Metal Wire Manipulation Planning for 3D Curving - A Low Payload Robot that Uses a Bending Machine to Bend High-Stiffness Wire
Ruishuang Liu,Weiwei Wan,Emiko Isomura,Kensuke Harada,Ruishuang Liu,Weiwei Wan,Emiko Isomura,Kensuke Harada
This paper presents a combined task and motion planner for a robot arm to carry out 3D metal wire curving tasks by collaborating with a bending machine. We assume a collaborative robot that is safe to work in a human environment but has a weak payload to bend objects with large stiffness, and developed a combined planner for the robot to use a bending machine. Our method converts a 3D curve to a b...
