Vision Guided Cable Installation in Constraint Environments Utilizing Parametric Curve Representation
Xin Jiang, Huangtao Wei, Zhitong Liu, Wenxi Liao, Wei Ran
Abstract
In this paper, a vision-based method is proposed for cable installation tasks in constrained environments. The main challenge of such tasks lies in the potential interference between the cable and surrounding obstacles. Model-based approaches are not well-suited for these industrial scenarios due to variations in the physical properties of workpieces. To address this, the proposed method integrates a potential field-based tip trajectory regulation with a shape deformation servo. In the shape deformation servo, a planner is employed to determine a feasible shape curve that avoids obstacles. This step is crucial, as an infeasible reference for shape control may result in unstable behavior. The effectiveness of the proposed method is validated through experiments. Notably, this approach does not rely on prior model information, making it highly adaptable for industrial deployment.
BibTeX
@inproceedings{iros2025_visionguidedcabl,
title = {Vision Guided Cable Installation in Constraint Environments Utilizing Parametric Curve Representation},
author = {Xin Jiang and Huangtao Wei and Zhitong Liu and Wenxi Liao and Wei Ran},
booktitle = {IROS 2025},
year = {2025}
}