Tension-tracking for single robot wire harnessing
AssigneeFanuc Corporation
InventorsXiang Zhang, Hsien-Chung Lin, Yu Zhao
Life of this patent
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Abstract
A system and method for routing and securing a cable to a plurality of fixtures mounted to a structure using a robot. The method includes grasping the cable; twisting the cable so as to provide a tension force on the cable; sliding the gripper along the twisted cable while the cable is under tension; generating a nonlinear cable dynamics model using a learning-based algorithm; generating robot motion command signals using the cable dynamic model; and controlling the motion of the robot using the robot motion command signals and robot pose and force measurements to route and secure the cable to the plurality of fixtures.
Claims20
A method for routing and securing a cable to a plurality of fixtures mounted to a structure using a robot, said robot being controlled by a motion controller and including a cable gripper and a camera, said method comprising:
- connecting an end of the cable to a fixed endpoint;
- mapping a location and pose of the plurality of fixtures relative to the robot;
- capturing images of the cable using the camera;
- grasping the cable using the gripper and the images proximate the fixed endpoint;
- twisting the cable using the gripper so as to provide a tension force on the cable between the gripper and the fixed endpoint;
- sliding the gripper along the twisted cable away from the fixed endpoint and towards a target fixture while the cable is under tension;
- generating a nonlinear cable dynamics model using a learning-based algorithm;
- generating robot motion command signals using the cable dynamics model;
- controlling movement of the robot using the robot motion command signals and robot pose and force measurements to route and secure the cable to the target fixture;
- and
- switching to routing the cable to a next fixture after the cable is connected to the target fixture.
A method for routing and securing a cable to a plurality of fixtures mounted to a structure using a robot, said robot including a cable gripper, said method comprising:
- grasping the cable using the gripper;
- twisting the cable so as to provide a tension force on the cable;
- sliding the gripper along the twisted cable while the cable is under tension;
- generating a nonlinear cable dynamics model using a learning-based algorithm;
- generating robot motion command signals using the cable dynamics model;
- controlling movement of the robot using the robot motion command signals and robot pose and force measurements to route and secure the cable to the plurality of fixtures;
- and
- switching to routing the cable to a next fixture after the cable is connected to a target fixture.
A system for routing and securing a cable to a plurality of fixtures mounted to a structure using a robot, said robot being controlled by a motion controller and including a cable gripper and a camera, said system comprising:
- means for mapping a location and pose of the plurality of fixtures relative to the robot;
- means for capturing images of the cable using the camera;
- means for grasping the cable using the gripper and the images proximate a fixed endpoint;
- means for twisting the cable using the gripper so as to provide a tension force on the cable between the gripper and the fixed endpoint;
- means for sliding the gripper along the twisted cable away from the fixed endpoint and towards a target fixture while the cable is under tension;
- means for generating a nonlinear cable dynamics model using a learning-based algorithm;
- means for generating robot motion command signals using the cable dynamics model;
- means for controlling movement of the robot using the robot motion command signals and robot pose and force measurements to route and secure the cable to the target fixture;
- and
- means for switching to routing the cable to a next fixture after the cable is connected to the target fixture.
Dependencies are inferred from the claim text.