Assembly of flexible objects without analytical models
نویسندگان
چکیده
The ability of manipulating exible objects, such as rubber belts and paper sheets, is important in automated manufacturing systems. This paper describes a novel approach to assembly of exible objects. The operation dealt with in this paper is to assemble a rubber belt with xed pulleys. By analyzing possible states of the belt based on the empirical knowledge of the belt, we can derive a method to have not only the action planning but also the visual veri cation planning. We have implemented a belt assembly system using the two manipulators and a laser range nder as the sensor, and succeeded in performing the belt-pulley assembly. Extension of our approach to other kinds of assembly of exible objects is also discussed.
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