Manipulation Planning of Wiring a Cable with Connector Considering Shape Transition of Deformable Linear Object

Abstract

In this paper, we propose a method of manipulation planning for cable wiring. The method enables to take into account the deformation of cables while connector incorporation process. Using a simulation that predicts the shape of a cable based on the posture of both ends of the cable, we generate a connector manipulation path that avoids contact between the cable and obstacles. We conducted simulation and confirmed that the proposed method can be used for inserting a connector into a socket installed on a circuit board.