This paper addresses the challenge of industrial bin picking using entangled wire harnesses. Wire harnesses are essential in manufacturing but poses challenges in automation due to their complex geometries and propensity for entanglement. Our previous work tackled this issue by proposing a quasi-static pulling motion to separate the entangled wire harnesses. However, it still lacks sufficiency and generalization to various shapes and structures. In this paper, we deploy a dual-arm robot that can grasp, extract and disentangle wire harnesses from dense clutter using dynamic manipulation. The robot can swing to dynamically discard the entangled objects and regrasp to adjust the undesirable grasp pose. To improve the robustness and accuracy of the system, we leverage a closed-loop framework that uses haptic feedback to detect entanglement in real-time and flexibly adjust system parameters. Our bin picking system achieves an overall success rate of 91.2% in the real-world experiments using two different types of long wire harnesses. It demonstrates the effectiveness of our system in handling various wire harnesses for industrial bin picking.

翻译：本文针对工业场景中使用缠接线束的料箱抓取难题展开研究。线束作为制造领域的重要组件，因其复杂几何形态与易缠绕特性，在自动化处理中面临显著挑战。我们先前的工作通过提出准静态牵引动作分离缠接线束，但该方法在应对不同形状与结构的线束时仍存在泛化性不足的问题。本文采用配备动态操控能力的双臂机器人系统，从密集杂乱环境中完成线束的抓取、提取与解缠操作。机器人可通过摆动动作动态抛弃缠绕物，并实施重抓取来修正不理想的抓取姿态。为提升系统的鲁棒性与精度，我们构建了基于触觉反馈的闭环框架，实现缠结状态的实时检测与系统参数的灵活调整。在真实工业环境中使用两种不同类型长线束进行的实验表明，本料箱抓取系统总体成功率达到91.2%，充分验证了系统处理多种线束的工业料箱抓取效能。