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Automatic Robotized System for Wire Harness Manipulation based on Vision Guideline with Convolutional Neural Network |
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Thong P Nguyen, YuHyeong Jeong(Hanyang University, Korea), Donghyung Kim, Joongbae Kim(Electronics and Telecommunications Research Institute (ETRI), Korea), Jonghun Yoon(Hanyang University, Korea) |
| Automatic robotized system for wire harness manipulation based on vision guideline with convolutional neural network
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A Study on Trajectory Generation for Picking and Transporting a Single Flexible Cable using Two Robot Arms |
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Donghyung Kim, Ji Sung Lee, Hyeon Sung Cho, Myoungchan Roh, Joong Bae Kim(ETRI, Korea) |
| This paper deals with the picking and transporting flexible cables using two robot arms as the first step for the robots to automate the wire harness manufacturing process. Using the robot system consist of two 6-DOF robot arms and double axis linear rail, we proposed the trajectory generation method that find a trajectory connecting two picking poses and goal location of the sub-cable. The proposed trajectory generation method is tested in a simulation environment using ROS(Robot Operating System) |
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Strategic Algorithm for Cacble Wiring using Dual Arm with Compliance Control |
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Youngsu Cho, Jongwoo Park, Byung-Kil Han, Dong Il Park(Korea Institute of Machinery and Materials, Korea) |
| This paper introduces a strategic algorithm for cable wiring which minimize dependency about image sensor using dual arm. This method is expected to make image sensor as an auxiliary. In during flexible cable wiring, if one of side is fixed by connected or rounded to pin connector and the other side is held by one of the dual arm with sufficient tension by compliance control, the relative position can be estimated without image sensor, and the proposed strategy aims to establish a basic work process plan. |
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A Study on Recognition of Flexible Cable on Cable Rack using Point Cloud Data |
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Ji Sung Lee(ETRI, Korea), Donghyung Kim, Hyeon Sung Cho, Myoungchan Roh, Joong Bae Kim(Electronic and Telecommunication Research Institute (ETRI), Korea) |
| We present a methodology for recognizing flexible cables on cable racks using point cloud data. To distinguish
each cable hanging on a cable rack, we applied the DBSCAN method, a density-based method of clustering. Depending
on the case of cable hanging and the field of view of the camera, there is a problem of recognizing one cable as a different
cluster. We solved this problem by applying a methodology to obtain and compare color distributions for each cluster via
the K-means clustering method. Finally, we distinguish cables and recognize each cable number by comparing the
predefined color distribution database with the color distribution of each cluster. |
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Roller-based Soft Gripper for Gripping and Transferring the Flexible Wire Bundle |
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Jae-Young Lee, Yong-Sin Seo, Dong-Il Park, Jongwoo Park, Byung-Kil Han, Chan-hun Park(Korea Institute of Machinery & Materials, Korea), Sung-Hyuk Song(Korea Institute of Machinery & Materials (KIMM), Korea) |
| A gripper, which can handle cables and wires, has been considered difficult to develop due to the irregular shapes of objects. In this paper, we propose a new type of gripper that possesses a roller-type variable-stiffness structure to effectively grip and transfer wires and cables. This gripper can modify the surface of the roller as same as the contour of wires and cables; thus, it can grip wires and cables of irregular shapes. The basic design of the gripper was described, and the gripping performance was evaluated. |
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Development of Greenhouse Crop Harvesting System Using Multiple Robots |
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Taeyong Choi(Korea Institute of Machinery & Materials (KIMM), Korea), Jong-Woo Park, Jeong-Jung Kim, Young-Sik Shin(KIMM, Korea) |
| A harvesting robot system composed of multiple mobile robots is introduced. The harvesting robot system consists of a harvesting robot and a transfer robot, and for the efficiency of the harvesting process, a special mechanism is developed to deliver crops from the loading box of the harvesting robot to the empty loading box of the transfer robot. In addition, the transport robot is developed to include a special loading box replacement mechanism to carry multiple loading boxes. |
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