Development of awire harness assembly motion planner for redundant multiple manipulators

Kyongmo Koo, Xin Jiang, Atsushi Konno, Masaru Uchiyama

Research output: Contribution to journalArticlepeer-review

15 Citations (Scopus)


This article discusses a motion planner for manipulating deformable linear objects with multiple manipulators. When multiple manipulators grip a rigid body, hand positions and postures of those manipulators are dependent variables of the positions and postures of the gripped rigid body. On the other hand, when multiple manipulators grip a deformable linear object, constraint conditions are eased compared to those for a rigid body. However, there is another problem: the need for consideration of deformation of a deformable linear object by the motion plan of a robot. In this research, in order to grip and operate such deformable linear objects with multiple manipulators, we developed a sampling-based robot motion planner. By combining basic motions generated by the developed robot motion planner, we will show that a complicated task, such as the assembly of a deformable linear object with the multiple manipulators, is possible. Using the example of a wire harness assembly work on an automobile production line, we perform motion planning using the developed motion planner, and we verify its effectiveness through simulations.

Original languageEnglish
Pages (from-to)907-918
Number of pages12
JournalJournal of Robotics and Mechatronics
Issue number6
Publication statusPublished - 2011 Dec
Externally publishedYes


  • Deformable linear object
  • Motion planning
  • Redundant manipulator

ASJC Scopus subject areas

  • Computer Science(all)
  • Electrical and Electronic Engineering


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