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 language | English |
|---|---|
| Title of host publication | Proceedings of the World Congress on Intelligent Control and Automation (WCICA) |
| Pages | 2339-2344 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 2008 |
| Externally published | Yes |
| Event | 7th World Congress on Intelligent Control and Automation, WCICA'08 - Chongqing, China Duration: Jun 25 2008 → Jun 27 2008 |
Other
| Other | 7th World Congress on Intelligent Control and Automation, WCICA'08 |
|---|---|
| Country | China |
| City | Chongqing |
| Period | 6/25/08 → 6/27/08 |
Fingerprint
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
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 proceeding › Conference contribution
}
TY - GEN
T1 - Fault-tolerant mating process of electric connectors in robotic wiring harness assembly systems
AU - Huang, Jian
AU - Di, Pei
AU - Fukuda, Toshio
AU - Matsuno, Takayuki
PY - 2008
Y1 - 2008
N2 - 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.
AB - 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.
KW - Configure space
KW - Error recovery
KW - Fault detection and isolation
KW - Robotic wiring harness assembly
UR - http://www.scopus.com/inward/record.url?scp=52149099672&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=52149099672&partnerID=8YFLogxK
U2 - 10.1109/WCICA.2008.4593288
DO - 10.1109/WCICA.2008.4593288
M3 - Conference contribution
SN - 9781424421145
SP - 2339
EP - 2344
BT - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
ER -