Dual-Arm Path-Planning Algorithm for Wiring Harness Assembly Using Redundantly Actuated Robotic Systems

Dual-Arm Path-Planning Algorithm for Wiring Harness Assembly Using Redundantly Actuated Robotic Systems

The most challenging task in the wiring harness assembly process is the placement and connection of cables on harness boards. This task remains difficult to automate because it requires dual-arm manipulation to collaboratively grasp the harnesses. In this study, we propose a dual-arm manipulation sy...

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Bibliographic Details
Main Authors: Jiyoung Kim, Jin-Gyun Kim, Jongwoo Park, Byung-Kil Han, Sanghyun Kim, Dong Il Park
Format: Article
Language:English
Published: IEEE 2023-01-01
Series:IEEE Access
Subjects:
Collision avoidance
cooperative manipulation
kinematic constraints
dual-arm manipulator
path planning algorithm
redundantly actuated robotic systems
Online Access:https://ieeexplore.ieee.org/document/10246012/

Internet

https://ieeexplore.ieee.org/document/10246012/

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