REMODEL. WP5 T5-4-2. Robotic Wires manipulation for Switchgear Cabling and Wiring Harness Manufacturing

The dataset contains the data validating a cyber-physical system for cable manipulation composed by a robotic arm, a parallel industrial gripper and a pair of tactile sensors. The data were obtained conducting multiple tests in an experimental setup in which a cable must be routed along two linear paths connected by a turn and with four fixing points. Specifically, the tests consisted in the analysis and the evaluation of the proposed PID tensioning controller alongside the active tension control of the gripper implemented in the research for the manipulation of deformable linear object for switchgear manufacturing. The data are gathered using ROS and saved in a .bag file, the image proposed in the publication can be obtained with the matlab file attached to the dataset. The data are presented in the publication: K. Galassi and G. Palli, "Robotic Wires Manipulation for Switchgear Cabling and Wiring Harness Manufacturing," 2021 4th IEEE International Conference on Industrial Cyber-Physical Systems (ICPS), 2021, pp. 531-536, doi: 10.1109/ICPS49255.2021.9468128.