Fault-tolerant mating process of electric connectors in robotic wiring harness assembly systems

Jian Huang, Pei Di, Toshio Fukuda, Takayuki Matsuno

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Citations (Scopus)

Abstract

To obtain a secured mating of electric connectors is one of the most important steps in a robotic wiring harness assembly system. Although there are plentiful results about complex peg-in-hole assembly problems, little work has been done with respect to this special issue. In many cases, mating connectors can be regarded as a hole search process of a multiple hole-in-peg problem. Because various faults might occur during the search, a reliable error recovery strategy is necessary in the mating task. In this paper, we model possible faults as "trap regions" in the configure space (C-space) of the assembly. Fault isolation methods are obtained from elaborated force analyses as well. Based on these fault isolation results, error recovery strategies are proposed according to the fault models. A faulttolerant mating of electric connectors can then be achieved. The effectiveness of the methods is finally confirmed by experiments.

Original languageEnglish
Title of host publicationProceedings of the 7th World Congress on Intelligent Control and Automation, WCICA'08
Pages2339-2344
Number of pages6
DOIs
Publication statusPublished - Sep 25 2008
Externally publishedYes
Event7th World Congress on Intelligent Control and Automation, WCICA'08 - Chongqing, China
Duration: Jun 25 2008Jun 27 2008

Publication series

NameProceedings of the World Congress on Intelligent Control and Automation (WCICA)

Other

Other7th World Congress on Intelligent Control and Automation, WCICA'08
CountryChina
CityChongqing
Period6/25/086/27/08

Keywords

  • Configure space
  • Error recovery
  • Fault detection and isolation
  • Robotic wiring harness assembly

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications

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  • Cite this

    Huang, J., Di, P., Fukuda, T., & Matsuno, T. (2008). Fault-tolerant mating process of electric connectors in robotic wiring harness assembly systems. In Proceedings of the 7th World Congress on Intelligent Control and Automation, WCICA'08 (pp. 2339-2344). [4593288] (Proceedings of the World Congress on Intelligent Control and Automation (WCICA)). https://doi.org/10.1109/WCICA.2008.4593288