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 - 2008/9/25
Y1 - 2008/9/25
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
AN - SCOPUS:52149099672
SN - 9781424421145
T3 - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
SP - 2339
EP - 2344
BT - Proceedings of the 7th World Congress on Intelligent Control and Automation, WCICA'08
T2 - 7th World Congress on Intelligent Control and Automation, WCICA'08
Y2 - 25 June 2008 through 27 June 2008
ER -