The dissertation analyses the key phases of automatization of manipulation of cable harnesses used in the automotive industry. It presents problems and solutions on the topics of perception, manipulation, insertion of cable like objects. It also explains the problem and solutions of simulation of such objects in a virtual environment.
The dissertation also presents the installation progress of the simulation environment Genesis Embodied AI inside the Windows operating system, using the WSL2 virtual machine. It simulates the interactions between deformable and rigid objects and the environment. Through the correction of physical parameters such as density, elasticity and rigidness, it simulates real world like responses to outside interactions. We have created a wire like object that reacts to manipulation, similar as its real-world counterpart. The research shows potential, that with the correct analysis of object, the simulation can completely match the manipulation response in the laboratory.
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