Study of deformation and insertion tasks of a flexible wire

Insertion of a flexible wire into a hole is a difficult task because the wire has a tendency to buckle under external forces. Moreover, the plastic deformation occurs on a flexible wire when the force acting on the wire is big. In this paper, we propose a method of inserting a flexible wire whereby a force acts on the wire and the shape of the wire is observed by stereo vision. A strategy to transform the deformed wire to the straight one and to insert the wire into a hole is presented. Finally, some experimental results are shown.

[1]  Masayuki INABA,et al.  Hand Eye Coordination in Rope Handling , 1985 .

[2]  Yuan F. Zheng,et al.  Deformation identification and estimation of one-dimensional objects by vision sensors , 1992, J. Field Robotics.

[3]  Tadashi Nagata,et al.  Determination of 3-D pose of a flexible object by stereo matching of curvature representations , 1994, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94).

[4]  Kazuaki Iwata,et al.  Modeling of linear objects considering bend, twist, and extensional deformations , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[5]  Jong-Eun Byun,et al.  Determining the 3-D pose of a flexible object by stereo matching of curvature representations , 1996, Pattern Recognit..

[6]  Hirofumi Nakagaki,et al.  Study of insertion task of a flexible wire into a hole by using visual tracking observed by stereo vision , 1996, Proceedings of IEEE International Conference on Robotics and Automation.