The manipulation of deformable linear objects is a hot spot and difficult problem in robotics research. Cables, as one kind of deformable linear objects, are characterized by elongation and uncertain shape. Although previous research has paid attention to deformable linear object’s manipulation, it still remains a challenge to detect and grasp cables in unstructured environments. In this paper, a new cable-grasping method framework by analysis of cable characteristics is proposed. The framework consists of cable pose measurement and cable-grasping path planning. In the cable pose measurement mission, we design a symmetric edge feature according to the cable image projection principle. Then, a semantic segmentation based edge detection technique and a center line fitting method based on sorting by principal axis are applied to measure the cable pose accurately. In the cable-grasping path planning mission, the grasping pose is determined considering the force directional manipulability. The cable operation surface is constructed after the characteristic analysis of the cable, on which basis, a two-phase path planner is proposed, with the second phase planner BG-RRT guided by motion directional manipulability to further optimize the planning path. The performance of the approach is verified by experiments in both the simulation environment and the actual environment.

可变形线性物体的操纵是机器人研究的热点和难点。电缆作为一种可变形的线性物体，具有伸长率和形状不确定的特点。尽管先前的研究已经关注可变形线性物体的操纵，但在非结构化环境中检测和抓取电缆仍然是一个挑战。在本文中，通过分析电缆特性，提出了一种新的电缆抓取方法框架。该框架由电缆位姿测量和电缆抓取路径规划组成。在电缆位姿测量任务中，我们根据电缆图像投影原理设计了对称边缘特征。然后，应用基于语义分割的边缘检测技术和基于主轴排序的中心线拟合方法来准确测量电缆姿态。在抓索路径规划任务中，抓握姿势的确定考虑了力的方向可操纵性。在对电缆进行特性分析后构建电缆操作面，在此基础上提出了双相路径规划器，第二相规划器BG-RRT以运动方向可操纵性为指导，进一步优化规划路径。通过在仿真环境和实际环境中的实验验证了该方法的性能。在对电缆进行特性分析后构建电缆操作面，在此基础上提出了双相路径规划器，第二相规划器BG-RRT以运动方向可操纵性为指导，进一步优化规划路径。通过在仿真环境和实际环境中的实验验证了该方法的性能。在对电缆进行特性分析后构建电缆操作面，在此基础上提出了双相路径规划器，第二相规划器BG-RRT以运动方向可操纵性为指导，进一步优化规划路径。通过在仿真环境和实际环境中的实验验证了该方法的性能。