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

8 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 World Congress on Intelligent Control and Automation (WCICA)
Pages2339-2344
Number of pages6
DOIs
Publication statusPublished - 2008
Externally publishedYes
Event7th World Congress on Intelligent Control and Automation, WCICA'08 - Chongqing, China
Duration: Jun 25 2008Jun 27 2008

Other

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

Fingerprint

Electric connectors
Electric wiring
Robotics
Experiments

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

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 World Congress on Intelligent Control and Automation (WCICA) (pp. 2339-2344). [4593288] https://doi.org/10.1109/WCICA.2008.4593288

Fault-tolerant mating process of electric connectors in robotic wiring harness assembly systems. / Huang, Jian; Di, Pei; Fukuda, Toshio; Matsuno, Takayuki.

Proceedings of the World Congress on Intelligent Control and Automation (WCICA). 2008. p. 2339-2344 4593288.

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

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 World Congress on Intelligent Control and Automation (WCICA)., 4593288, pp. 2339-2344, 7th World Congress on Intelligent Control and Automation, WCICA'08, Chongqing, China, 6/25/08. https://doi.org/10.1109/WCICA.2008.4593288
Huang J, Di P, Fukuda T, Matsuno T. Fault-tolerant mating process of electric connectors in robotic wiring harness assembly systems. In Proceedings of the World Congress on Intelligent Control and Automation (WCICA). 2008. p. 2339-2344. 4593288 https://doi.org/10.1109/WCICA.2008.4593288
Huang, Jian ; Di, Pei ; Fukuda, Toshio ; Matsuno, Takayuki. / Fault-tolerant mating process of electric connectors in robotic wiring harness assembly systems. Proceedings of the World Congress on Intelligent Control and Automation (WCICA). 2008. pp. 2339-2344
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