2024-03-28T12:48:26Z
https://nagoya.repo.nii.ac.jp/oai
oai:nagoya.repo.nii.ac.jp:00009374
2023-01-16T03:55:02Z
320:502:503
Fault-tolerant Mating Process of Electric Connectors in Robotic Wiring Harness Assembly Systems
Huang, Jian
26818
Di, Pei
26819
Fukuda, Toshio
26820
福田, 敏男
26821
Matsuno, Takayuki
26822
robotic wiring harness assembly
fault detection and isolation
error recovery
configure space
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.
journal article
IEEE
2008-06
application/pdf
7th World Congress on Intelligent Control and Automation (WCICA 2008)
2339
2344
http://hdl.handle.net/2237/11149
https://nagoya.repo.nii.ac.jp/record/9374/files/WCICA08-huang.pdf
eng
https://doi.org/10.1109/WCICA.2008.4593288
978-1-4244-2113-8
Copyright © 2008 IEEE. Reprinted from 7th World Congress on Intelligent Control and Automation, WCICA 2008, p.2339-2344. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of Nagoya University’s products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org.