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

Galassi, Kevin ; Palli, Gianluca (2022) REMODEL. WP5 T5-4-2. Robotic Wires manipulation for Switchgear Cabling and Wiring Harness Manufacturing. University of Bologna. DOI 10.6092/unibo/amsacta/6769. [Dataset]
Full text available as:
[img] Archive (REMODEL_WP5_T5.4.2_dataset)
License: Creative Commons: Attribution 4.0 (CC BY 4.0)

Download (407MB)


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.

Document type
Galassi, KevinUniversity of Bologna0000-0001-7351-035X
Palli, GianlucaUniversity of Bologna
Galassi, KevinUniversity of Bologna0000-0001-7351-035XContact person
Deposit date
26 Oct 2022 11:23
Last modified
26 Oct 2022 11:23
Related identifier
Related identifier typeRelation typeCode
DOIthis upload is supplement to
Project name
REMODEL - Robotic tEchnologies for the Manipulation of cOmplex DeformablE Linear objects
Funding program
EC - H2020

Other metadata



Staff only: View the document