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Conference Paper
A Study on Trajectory Generation for Picking and Transporting a Single Flexible Cable using Two Robot Arms
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- Issue Date
- 2021-10
- Citation
- International Conference on Control, Automation and Systems (ICCAS) 2021, pp.1-2
- Publisher
- IEEE
- Language
- English
- Type
- Conference Paper
- Abstract
- This paper deals with the picking and transporting flexible cables using two robot arms as the first step for the robots to automate the wire harness manufacturing process. Using the robot system consist of two 6-DOF robot arms and double axis linear rail, we proposed the trajectory generation method that find a trajectory connecting two picking poses and goal location of the sub-cable. The proposed trajectory generation method is tested in a simulation environment using ROS(Robot Operating System).
- KSP Keywords
- Flexible cable, Manufacturing processes, Robot Operating System(ROS), Simulation Environment, Six degrees of freedom(6-DoF), Trajectory generation method, robot system