Vision Based Cable Assembly in Constrained Environment

Chenhang Jiao; Xin Jiang; Xiang Li; Yunhui Liu

doi:10.1109/ROBIO.2018.8665342

Vision Based Cable Assembly in Constrained Environment

Chenhang Jiao
, Xin Jiang
, Xiang Li
, Yunhui Liu

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

9 Scopus citations

Abstract

In this paper, we proposed a vision based method for automatic cable assembly conducted in constrained environment. The primary difficult issue involved in such tasks is to avoid the possible contact between the cable and the surrounding environment. The solution to this problem is combination of cable deformation control and obstacle avoidance control based on artificial potential field method. Both of the control utilize the vision feedback. The cable deformation control does not require a precise model of the cable. The obstacle avoidance method ensures that the cable will not contact with the surrounding obstacles. The effectiveness of the proposed method is verified by a cable assembly experiment conducted by using a URS robot manipulator.

Original language	English
Title of host publication	2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	8-13
Number of pages	6
ISBN (Electronic)	9781728103761
DOIs	https://doi.org/10.1109/ROBIO.2018.8665342
State	Published - 2 Jul 2018
Externally published	Yes
Event	2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018 - Kuala Lumpur, Malaysia Duration: 12 Dec 2018 → 15 Dec 2018

Publication series

Name	2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018

Conference

Conference	2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
Country/Territory	Malaysia
City	Kuala Lumpur
Period	12/12/18 → 15/12/18

Access to Document

10.1109/ROBIO.2018.8665342

Cite this

Jiao, C., Jiang, X., Li, X., & Liu, Y. (2018). Vision Based Cable Assembly in Constrained Environment. In 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018 (pp. 8-13). Article 8665342 (2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2018.8665342

@inproceedings{933cc945319147c7804d95304fca713b,

title = "Vision Based Cable Assembly in Constrained Environment",

abstract = "In this paper, we proposed a vision based method for automatic cable assembly conducted in constrained environment. The primary difficult issue involved in such tasks is to avoid the possible contact between the cable and the surrounding environment. The solution to this problem is combination of cable deformation control and obstacle avoidance control based on artificial potential field method. Both of the control utilize the vision feedback. The cable deformation control does not require a precise model of the cable. The obstacle avoidance method ensures that the cable will not contact with the surrounding obstacles. The effectiveness of the proposed method is verified by a cable assembly experiment conducted by using a URS robot manipulator.",

author = "Chenhang Jiao and Xin Jiang and Xiang Li and Yunhui Liu",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018 ; Conference date: 12-12-2018 Through 15-12-2018",

year = "2018",

month = jul,

day = "2",

doi = "10.1109/ROBIO.2018.8665342",

language = "英语",

series = "2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "8--13",

booktitle = "2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018",

address = "美国",

}

Jiao, C, Jiang, X, Li, X & Liu, Y 2018, Vision Based Cable Assembly in Constrained Environment. in 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018., 8665342, 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018, Institute of Electrical and Electronics Engineers Inc., pp. 8-13, 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018, Kuala Lumpur, Malaysia, 12/12/18. https://doi.org/10.1109/ROBIO.2018.8665342

Vision Based Cable Assembly in Constrained Environment. / Jiao, Chenhang; Jiang, Xin; Li, Xiang et al.
2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 8-13 8665342 (2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Vision Based Cable Assembly in Constrained Environment

AU - Jiao, Chenhang

AU - Jiang, Xin

AU - Li, Xiang

AU - Liu, Yunhui

PY - 2018/7/2

Y1 - 2018/7/2

N2 - In this paper, we proposed a vision based method for automatic cable assembly conducted in constrained environment. The primary difficult issue involved in such tasks is to avoid the possible contact between the cable and the surrounding environment. The solution to this problem is combination of cable deformation control and obstacle avoidance control based on artificial potential field method. Both of the control utilize the vision feedback. The cable deformation control does not require a precise model of the cable. The obstacle avoidance method ensures that the cable will not contact with the surrounding obstacles. The effectiveness of the proposed method is verified by a cable assembly experiment conducted by using a URS robot manipulator.

AB - In this paper, we proposed a vision based method for automatic cable assembly conducted in constrained environment. The primary difficult issue involved in such tasks is to avoid the possible contact between the cable and the surrounding environment. The solution to this problem is combination of cable deformation control and obstacle avoidance control based on artificial potential field method. Both of the control utilize the vision feedback. The cable deformation control does not require a precise model of the cable. The obstacle avoidance method ensures that the cable will not contact with the surrounding obstacles. The effectiveness of the proposed method is verified by a cable assembly experiment conducted by using a URS robot manipulator.

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U2 - 10.1109/ROBIO.2018.8665342

DO - 10.1109/ROBIO.2018.8665342

M3 - 会议稿件

AN - SCOPUS:85064112932

T3 - 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018

SP - 8

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BT - 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018

Y2 - 12 December 2018 through 15 December 2018

ER -

Vision Based Cable Assembly in Constrained Environment

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