Pose error correction of a robot end-effector using a 3D visual sensor for control cabinet wiring

The wiring of control cabinets in small and medium-sized enterprises is a mostly manually performed process and very time-consuming. Thus, an automated approach for wiring control cabinets is necessary. The proposed solution is based on an ECAD model and performed by a lightweight robot. Before the wire insertion, the tip pose of the gripped wire end and the component port pose are detected by processing 3D sensor data. The sensor is able to detect wire ends with arbitrary cross-section geometries and arbitrary component port shapes. The results prove the functionality of correcting the pose of the robot end-effector with respect to a component port using a 3D sensor.