This paper introduces a novel and general method to address the problem of using a general-purpose robot manipulator with a parallel gripper to wrap a deformable linear object (DLO), called a rope, around a rigid object, called a rod, autonomously. Such a robotic wrapping task has broad potential applications in automotive, electromechanical industries construction manufacturing, etc., but has hardly been studied. Our method does not require prior knowledge of the physical and geometrical properties of the objects but enables the robot to use real-time RGB-D perception to determine the wrapping state and feedback control to achieve high-quality results. As such, it provides the robot manipulator with the general capabilities to handle wrapping tasks of different rods or ropes. We tested our method on 6 combinations of 3 different ropes and 2 rods. The result shows that the wrapping quality improved and converged within 5 wraps for all test cases.

翻译：本文提出了一种新颖且通用的方法，用于解决使用带有平行夹爪的通用型机器人操作器自主地将可变形线性物体（称为绳索）缠绕在刚性物体（称为杆件）上的问题。此类机器人缠绕任务在汽车、机电工业及建筑制造等领域具有广泛的应用前景，但目前鲜有研究。我们的方法无需预先了解物体的物理和几何属性，而是使机器人能够利用实时RGB-D感知来确定缠绕状态，并通过反馈控制实现高质量缠绕效果。因此，该方法为机器人操作器提供了处理不同杆件或绳索缠绕任务的通用能力。我们在3种不同绳索与2种杆件的6种组合上对方法进行了测试。结果表明，在所有测试案例中，缠绕质量均在5次缠绕内得到改善并趋于收敛。