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This paper presents a combined task and motion planner for a robot arm tocarry out 3D metal wire curving tasks by collaborating with a bending machine.We assume a collaborative robot that is safe to work in a human environment buthas a weak payload to bend objects with large stiffness, and developed acombined planner for the robot to use a bending machine. Our method converts a3D curve to a bending set and generates the feasible bending sequence, machineusage, robotic grasp poses, and pick-and-place arm motion considering thecombined task and motion level constraints. Compared with previous deformablelinear object shaping work that relied on forces provided by robotic arms, theproposed method is suitable for the material with high stiffness. We evaluatethe system using different tasks. The results show that the proposed system isflexible and robust to generate robotic motion to corporate with the designedbending machine.

Metal Wire Manipulation Planning for 3D Curving -- How a Low Payload Robot Can Use a Bending Machine to Bend Stiff Metal Wire