Strategic algorithm for cable wiring using dual arm with compliance control

A variety of electronic products are in daily use to serve a variety of needs. Electronic products require different types of cable harnesses for production. Nowadays, user preferences vary and change quickly. Therefore, a variety of small-volume products are made, and producing various kinds of complex harnesses to satisfy people's needs is difficult. In robotic automation, the wiring harness assembly process in the manufacturing of deformable objects is challenging. Because of the characteristics of a deformable object, the manufacturing task cannot be standardized. However, relying solely on image sensors is not advisable, due to the challenges involved in recognizing complex cables with image sensors. Additionally, even when cable recognition is possible, it requires too much time. To address these issues, this paper introduces a strategic algorithm for the wiring harness assembly process. The algorithm minimizes the dependence on image sensors by enabling the use of a robotic dual-arm system. The proposed method includes techniques such as cable estimation, frictional models, and trajectory planning in the algorithms. On the basis of these methods, for a provided assembly board, the algorithm outputs a systematic process for wiring harness assembly. Experimental results validate the algorithm, demonstrating its good performance.