On Robust Assembly of Flexible Flat Cables Combining CAD and Image Based Multiview Pose Estimation and a Multimodal Robotic Gripper

IF 5.2 Q1 ENGINEERING, ELECTRICAL & ELECTRONIC
Junbang Liang;Joao Buzzatto;Bryan Busby;Haodan Jiang;Saori Matsunaga;Rintaro Haraguchi;Toshisada Mariyama;Bruce A. MacDonald;Minas Liarokapis
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引用次数: 0

Abstract

In robotic assembly of flexible flat cables (FFCs), a unique challenge is the inherent difficulty in manipulating such flexible objects compared to their rigid counterparts and the precise estimation of the cable pose. This work proposes a framework that combines object pose estimation using computer-aided design (CAD) models and multiview fusion to perform precise FFC assembly. Our key insight is that a multiview fusion combined with pretrained 6-D pose estimation models offers a more flexible and precise object pose estimation. In a series of experiments involving FFC insertion tasks requiring assembly tolerances down to 0.1 mm, our approach achieves an insertion success rate of 399 out of 400 total attempts. Furthermore, the assembly tasks include the releasing and securing of FFCs from cable connectors, where the system is successful in 200 out of 200 trials. We have also demonstrated the generalization capability of the methodology by successfully completing insertion tasks for common electronic cables like DisplayPort and USB-A, achieving 199 successes in 200 trials. The results not only validate the feasibility of the proposed approach, but also demonstrate its robustness for real-world industrial applications.
基于 CAD 和图像的多视角姿势估计与多模态机器人抓手相结合的柔性扁平电缆的鲁棒装配
在柔性扁平电缆(FFC)的机器人装配过程中,一个独特的挑战是,与刚性物体相比,操纵这种柔性物体存在固有的困难,而且需要精确估计电缆的姿态。这项工作提出了一个框架,将使用计算机辅助设计(CAD)模型进行物体姿态估计与多视角融合相结合,以执行精确的 FFC 组装。我们的主要见解是,多视角融合与预训练的 6-D 姿态估计模型相结合,可提供更灵活、更精确的物体姿态估计。在一系列涉及要求装配公差小至 0.1 毫米的 FFC 插入任务的实验中,我们的方法在总共 400 次尝试中取得了 399 次的插入成功率。此外,装配任务还包括从电缆连接器中释放和固定 FFC,在 200 次试验中,系统成功了 200 次。我们还成功完成了 DisplayPort 和 USB-A 等常见电子线缆的插入任务,在 200 次尝试中成功插入 199 个,从而证明了该方法的通用能力。这些结果不仅验证了建议方法的可行性,还证明了其在实际工业应用中的稳健性。
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来源期刊
IEEE Open Journal of the Industrial Electronics Society
IEEE Open Journal of the Industrial Electronics Society ENGINEERING, ELECTRICAL & ELECTRONIC-
CiteScore
10.80
自引率
2.40%
发文量
33
审稿时长
12 weeks
期刊介绍: The IEEE Open Journal of the Industrial Electronics Society is dedicated to advancing information-intensive, knowledge-based automation, and digitalization, aiming to enhance various industrial and infrastructural ecosystems including energy, mobility, health, and home/building infrastructure. Encompassing a range of techniques leveraging data and information acquisition, analysis, manipulation, and distribution, the journal strives to achieve greater flexibility, efficiency, effectiveness, reliability, and security within digitalized and networked environments. Our scope provides a platform for discourse and dissemination of the latest developments in numerous research and innovation areas. These include electrical components and systems, smart grids, industrial cyber-physical systems, motion control, robotics and mechatronics, sensors and actuators, factory and building communication and automation, industrial digitalization, flexible and reconfigurable manufacturing, assistant systems, industrial applications of artificial intelligence and data science, as well as the implementation of machine learning, artificial neural networks, and fuzzy logic. Additionally, we explore human factors in digitalized and networked ecosystems. Join us in exploring and shaping the future of industrial electronics and digitalization.
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