Model-based robust online fault detection for 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

3 Citations (Scopus)

Abstract

Mating a pair of electric connectors is one of the most important steps in a robotic wiring harness assembly system, which can be modeled by static piecewise affine (PWA) systems. To design a fault detection system for this application, a set-membership approach for static PWA systems is proposed, in which parallelotopic approximation of feasible parameter sets (FPS) is adopted. An online algorithm is obtained to estimate bounds of uncertain transition points of the PWA model. Based on the estimation, a robust online fault detection algorithm is proposed. The effectiveness of these methods is finally confirmed through experiments.

Original languageEnglish
Title of host publication2007 International Symposium on Micro-NanoMechatronics and Human Science, MHS
Pages556-563
Number of pages8
DOIs
Publication statusPublished - Dec 1 2007
Externally publishedYes
Event2007 International Symposium on Micro-NanoMechatronics and Human Science, MHS - Nagoya, Japan
Duration: Nov 11 2007Nov 14 2007

Publication series

Name2007 International Symposium on Micro-NanoMechatronics and Human Science, MHS

Other

Other2007 International Symposium on Micro-NanoMechatronics and Human Science, MHS
CountryJapan
CityNagoya
Period11/11/0711/14/07

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Networks and Communications
  • Human-Computer Interaction
  • Electrical and Electronic Engineering

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  • Cite this

    Huang, J., Di, P., Fukuda, T., & Matsuno, T. (2007). Model-based robust online fault detection for mating process of electric connectors in robotic wiring harness assembly systems. In 2007 International Symposium on Micro-NanoMechatronics and Human Science, MHS (pp. 556-563). [4420916] (2007 International Symposium on Micro-NanoMechatronics and Human Science, MHS). https://doi.org/10.1109/MHS.2007.4420916