Task Planning of Assembly of Flexible objects and vision-Based Verification

摘要

The ability of manipulating flexible objects, such as rubber belts and paper sheets, is important in automated manu- facturing systems. This paper describes a novel approach to vision-guided assembly of flexible objects. The operation dealt with in this paper is to assemble a rubber belt with fixed 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 verification planning.