单臂机器人通过扭转生成张力，实现工业级线束精准插入。
Harnessing with Twisting: Single-Arm Deformable Linear Object Manipulation for Industrial Harnessing Task
- 用单臂扭转产生张力，替代双臂或触觉传感。
- 在狭窄空间内成功完成单/多线束插入，成功率高。
- 适合工业场景，低成本且易扩展的自动化方案。
线束任务因柔性线缆复杂的动力学和不可预测行为，难以由机器人自动化完成。传统方法常依赖双机械臂或触觉传感，存在适应性差、成本高、难扩展等问题。本文提出一种基于单机械臂的新型线束装配流程，利用机器人扭转运动生成必要张力，实现线缆精确插入夹具，仅需一个带力/力矩传感器的机械臂即可完成。该设计使单臂能高效施加张力，完成狭小空间内的线缆布线与插入。方法包含四个核心组件：基于Koopman算子的模型预测控制（MPC）用于张力跟踪与线缆跟随，路径规划器用于编排线束作业点，一系列插入原语用于夹具啮合，以及固定点切换机制以更新线缆约束。在工业级线束任务上评估表明，该方法显著优于传统方案，对单线与多线配置均具备高成功率和可靠性。
原文摘要 · Abstract (English)
Wire-harnessing tasks pose great challenges to be automated by the robot due to the complex dynamics and unpredictable behavior of the deformable wire. Traditional methods, often reliant on dual-robot arms or tactile sensing, face limitations in adaptability, cost, and scalability. This paper introduces a novel single-robot wire-harnessing pipeline that leverages a robot's twisting motion to generate necessary wire tension for precise insertion into clamps, using only one robot arm with an integrated force/torque (F/T) sensor. Benefiting from this design, the single robot arm can efficiently apply tension for wire routing and insertion into clamps in a narrow space. Our approach is structured around four principal components: a Model Predictive Control (MPC) based on the Koopman operator for tension tracking and wire following, a motion planner for sequencing harnessing waypoints, a suite of insertion primitives for clamp engagement, and a fix-point switching mechanism for wire constraint updating. Evaluated on an industrial-level wire harnessing task, our method demonstrated superior performance and reliability over conventional approaches, efficiently handling both single and multiple wire configurations with high success rates.
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