Method for Gripping a Freely Hanging Cable with a 2D-Camera for Automated Control Cabinet Wiring

This paper presents a method for determining the gripping point of a freely hanging cable using a 2D camera and a single image. For this purpose, an algorithm was defined, which calculates the gripping point based on the cable end. Subsequently, tests were conducted to assess how effectively the developed method can be applied to the domain of automated control cabinet wiring. The implemented distance calculation between the camera and the cable was the biggest hurdle for the system’s process reliability. In this context, it was found that the coordination between the defined computer vision algorithm and the gripper design is very promising, because longer gripper jaws can compensate for an incorrectly performed distance calculation. In this work, the current state of development is presented, and the next steps are explained.