TY - JOUR
T1 - Robust model-based online fault detection for mating process of electric connectors in robotic wiring harness assembly systems
AU - Huang, Jian
AU - Di, Pei
AU - Fukuda, Toshio
AU - Matsuno, Takayuki
N1 - Funding Information:
Manuscript received May 20, 2009; accepted July 30, 2009. Manuscript received in final form October 12, 2009. First published November 10, 2009; current version published August 25, 2010. Recommended by Associate Editor S. Devasia. This work was supported in part by the New Energy and Industrial Technology Development Organization (NEDO) as a part of “Project for Strategic Development of Advanced Robotics Elemental Technologies”. The work of J. Huang was supported by the National Natural Science Foundation of China under Grant 60603006.
Copyright:
Copyright 2010 Elsevier B.V., All rights reserved.
PY - 2010/9
Y1 - 2010/9
N2 - 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 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 robustness and sensitivity of the algorithm are analyzed. The effectiveness of these methods is finally confirmed through experiments.
AB - 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 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 robustness and sensitivity of the algorithm are analyzed. The effectiveness of these methods is finally confirmed through experiments.
KW - Fault detection
KW - hybrid systems
KW - piecewise affine (PWA) systems
KW - robotic wiring harness assembly
KW - set-membership approach
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U2 - 10.1109/TCST.2009.2034735
DO - 10.1109/TCST.2009.2034735
M3 - Article
AN - SCOPUS:77956227754
SN - 1063-6536
VL - 18
SP - 1207
EP - 1215
JO - IEEE Transactions on Control Systems Technology
JF - IEEE Transactions on Control Systems Technology
IS - 5
M1 - 5325651
ER -