  In this paper, we present a planner for manipulating tethered tools using
dual-armed robots. The planner generates robot motion sequences to maneuver a
tool and its cable while avoiding robot-cable entanglements. Firstly, the
planner generates an Object Manipulation Motion Sequence (OMMS) to handle the
tool and place it in desired poses. Secondly, the planner examines the tool
movement associated with the OMMS and computes candidate positions for a cable
slider, to maneuver the tool cable and avoid collisions. Finally, the planner
determines the optimal slider positions to avoid entanglements and generates a
Cable Manipulation Motion Sequence (CMMS) to place the slider in these
positions. The robot executes both the OMMS and CMMS to handle the tool and its
cable to avoid entanglements and excess cable bending. Simulations and
real-world experiments help validate the proposed method.
