On Robust Assembly of Flexible Flat Cables Combining CAD and Image Based Multiview Pose Estimation and a Multimodal Robotic Gripper
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 compute...
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| Format: | Article |
| Language: | English |
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IEEE
2024-01-01
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| Series: | IEEE Open Journal of the Industrial Electronics Society |
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| Online Access: | https://ieeexplore.ieee.org/document/10693648/ |
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| author | Junbang Liang Joao Buzzatto Bryan Busby Haodan Jiang Saori Matsunaga Rintaro Haraguchi Mariyama Toshisada Bruce A. MacDonald Minas Liarokapis |
| author_facet | Junbang Liang Joao Buzzatto Bryan Busby Haodan Jiang Saori Matsunaga Rintaro Haraguchi Mariyama Toshisada Bruce A. MacDonald Minas Liarokapis |
| author_sort | Junbang Liang |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-78d608ce99e74b8cb3acd3a94967d2c6 |
| institution | Kabale University |
| issn | 2644-1284 |
| language | English |
| publishDate | 2024-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Open Journal of the Industrial Electronics Society |
| spelling | doaj-art-78d608ce99e74b8cb3acd3a94967d2c62025-01-17T00:01:29ZengIEEEIEEE Open Journal of the Industrial Electronics Society2644-12842024-01-0151104111410.1109/OJIES.2024.346717110693648On Robust Assembly of Flexible Flat Cables Combining CAD and Image Based Multiview Pose Estimation and a Multimodal Robotic GripperJunbang Liang0https://orcid.org/0009-0008-7997-5623Joao Buzzatto1https://orcid.org/0000-0003-3725-4023Bryan Busby2Haodan Jiang3Saori Matsunaga4Rintaro Haraguchi5Mariyama Toshisada6Bruce A. MacDonald7https://orcid.org/0000-0001-7602-8497Minas Liarokapis8https://orcid.org/0000-0002-6016-1477New Dexterity Research Group, Department of Mechanical and Mechatronics Engineering, The University of Auckland, Auckland, New ZealandNew Dexterity Research Group, Department of Mechanical and Mechatronics Engineering, The University of Auckland, Auckland, New ZealandNew Dexterity Research Group, Department of Mechanical and Mechatronics Engineering, The University of Auckland, Auckland, New ZealandNew Dexterity Research Group, Department of Mechanical and Mechatronics Engineering, The University of Auckland, Auckland, New ZealandInformation Technology R&D Center, Mitsubishi Electric Corporation, Tokyo, JapanAdvanced Technology R&D Center, Mitsubishi Electric Corporation, Tokyo, JapanInformation Technology R&D Center, Mitsubishi Electric Corporation, Tokyo, JapanCentre for Automation and Robotic Engineering Science, Department of Electrical, Computer and Software Engineering, The University of Auckland, Auckland, New ZealandNew Dexterity Research Group, Department of Mechanical and Mechatronics Engineering, The University of Auckland, Auckland, New ZealandIn 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.https://ieeexplore.ieee.org/document/10693648/Flexible object manipulationmultiview fusionpose estimationrobotic assembly |
| spellingShingle | Junbang Liang Joao Buzzatto Bryan Busby Haodan Jiang Saori Matsunaga Rintaro Haraguchi Mariyama Toshisada Bruce A. MacDonald Minas Liarokapis On Robust Assembly of Flexible Flat Cables Combining CAD and Image Based Multiview Pose Estimation and a Multimodal Robotic Gripper IEEE Open Journal of the Industrial Electronics Society Flexible object manipulation multiview fusion pose estimation robotic assembly |
| title | On Robust Assembly of Flexible Flat Cables Combining CAD and Image Based Multiview Pose Estimation and a Multimodal Robotic Gripper |
| title_full | On Robust Assembly of Flexible Flat Cables Combining CAD and Image Based Multiview Pose Estimation and a Multimodal Robotic Gripper |
| title_fullStr | On Robust Assembly of Flexible Flat Cables Combining CAD and Image Based Multiview Pose Estimation and a Multimodal Robotic Gripper |
| title_full_unstemmed | On Robust Assembly of Flexible Flat Cables Combining CAD and Image Based Multiview Pose Estimation and a Multimodal Robotic Gripper |
| title_short | On Robust Assembly of Flexible Flat Cables Combining CAD and Image Based Multiview Pose Estimation and a Multimodal Robotic Gripper |
| title_sort | on robust assembly of flexible flat cables combining cad and image based multiview pose estimation and a multimodal robotic gripper |
| topic | Flexible object manipulation multiview fusion pose estimation robotic assembly |
| url | https://ieeexplore.ieee.org/document/10693648/ |
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