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Vison-guided individual modeling of bendable cables for their insertion

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2 Author(s)
Kataoka, Y. ; Dept. of Robot., Ritsumeikan Univ., Kusatsu, Japan ; Hirai, S.

This paper focuses on modeling of bendable cables based on their visual measurement of static and dynamic deformation. Cable insertion is one of basic operations in electric and automotive industries. Automatic insertion is desired but the insertion is still done by humans. The barrier against the automatic insertion of bendable cables is the variance of their deformed shapes. Here we will propose vision-guided individualmodeling to cope such variance. First, we show a model of bendable cables with nonlinear flexural elasticity. Second, we describe the identification of model parameters for individual cables based on their visually measured deformation. Experimental.

Published in:

World Automation Congress (WAC), 2010

Date of Conference:

19-23 Sept. 2010