{"title":"On Robust Assembly of Flexible Flat Cables Combining CAD and Image Based Multiview Pose Estimation and a Multimodal Robotic Gripper","authors":"Junbang Liang;Joao Buzzatto;Bryan Busby;Haodan Jiang;Saori Matsunaga;Rintaro Haraguchi;Toshisada Mariyama;Bruce A. MacDonald;Minas Liarokapis","doi":"10.1109/OJIES.2024.3467171","DOIUrl":null,"url":null,"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.","PeriodicalId":52675,"journal":{"name":"IEEE Open Journal of the Industrial Electronics Society","volume":null,"pages":null},"PeriodicalIF":5.2000,"publicationDate":"2024-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10693648","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE Open Journal of the Industrial Electronics Society","FirstCategoryId":"1085","ListUrlMain":"https://ieeexplore.ieee.org/document/10693648/","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"ENGINEERING, ELECTRICAL & ELECTRONIC","Score":null,"Total":0}
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.
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.