Dynamic insertion of bendable flat cables with variation based on shape returning points

Abstract

This paper focuses on the insertion of flat cables with variance. Manipulation of flat cables must cope with the variance of their deformed shapes. Here we will propose a method to guide the cable end to its desired location using static images of the cable. First, we will introduce the insertion of flat cables. Second, we will describe the concept of a shape returning point, where dynamically deformed shape coincides with static shape of a cable. Based on this concept, we will construct the procedure to determine the trajectory of a robot manipulating cables. We will show experimental results to demonstrate how the proposed procedure works. © 2011 Springer-Verlag.