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

Jian Huang; Pei Di; Toshio Fukuda; Takayuki Matsuno

doi:10.1109/WCICA.2008.4593288

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 proceeding › Conference 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 language	English
Title of host publication	Proceedings of the 7th World Congress on Intelligent Control and Automation, WCICA'08
Pages	2339-2344
Number of pages	6
DOIs	https://doi.org/10.1109/WCICA.2008.4593288
Publication status	Published - Sep 25 2008
Externally published	Yes
Event	7th World Congress on Intelligent Control and Automation, WCICA'08 - Chongqing, China Duration: Jun 25 2008 → Jun 27 2008

Publication series

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

Other

Other	7th World Congress on Intelligent Control and Automation, WCICA'08
Country	China
City	Chongqing
Period	6/25/08 → 6/27/08

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

Access to Document

10.1109/WCICA.2008.4593288

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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

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

Proceedings of the 7th World Congress on Intelligent Control and Automation, WCICA'08. 2008. p. 2339-2344 4593288 (Proceedings of the World Congress on Intelligent Control and Automation (WCICA)).

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 7th World Congress on Intelligent Control and Automation, WCICA'08., 4593288, Proceedings of the World Congress on Intelligent Control and Automation (WCICA), 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 7th World Congress on Intelligent Control and Automation, WCICA'08. 2008. p. 2339-2344. 4593288. (Proceedings of the World Congress on Intelligent Control and Automation (WCICA)). https://doi.org/10.1109/WCICA.2008.4593288

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