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  1. B200 工学部/工学研究科
  2. B200e 会議資料
  3. 国際会議

Fault-tolerant Mating Process of Electric Connectors in Robotic Wiring Harness Assembly Systems

http://hdl.handle.net/2237/11149
http://hdl.handle.net/2237/11149
b27e75f8-9918-46b6-ad32-e55e4abd705d
名前 / ファイル ライセンス アクション
WCICA08-huang.pdf WCICA08-huang.pdf (220.9 kB)
Item type 学術雑誌論文 / Journal Article(1)
公開日 2009-02-24
タイトル
タイトル Fault-tolerant Mating Process of Electric Connectors in Robotic Wiring Harness Assembly Systems
言語 en
著者 Huang, Jian

× Huang, Jian

WEKO 26818

en Huang, Jian

Search repository
Di, Pei

× Di, Pei

WEKO 26819

en Di, Pei

Search repository
Fukuda, Toshio

× Fukuda, Toshio

WEKO 26820

en Fukuda, Toshio

Search repository
福田, 敏男

× 福田, 敏男

WEKO 26821

ja 福田, 敏男

Search repository
Matsuno, Takayuki

× Matsuno, Takayuki

WEKO 26822

en Matsuno, Takayuki

Search repository
アクセス権
アクセス権 open access
アクセス権URI http://purl.org/coar/access_right/c_abf2
権利
言語 en
権利情報 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.
キーワード
主題Scheme Other
主題 robotic wiring harness assembly
キーワード
主題Scheme Other
主題 fault detection and isolation
キーワード
主題Scheme Other
主題 error recovery
キーワード
主題Scheme Other
主題 configure space
抄録
内容記述 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.
言語 en
内容記述タイプ Abstract
出版者
言語 en
出版者 IEEE
言語
言語 eng
資源タイプ
資源タイプresource http://purl.org/coar/resource_type/c_6501
タイプ journal article
出版タイプ
出版タイプ VoR
出版タイプResource http://purl.org/coar/version/c_970fb48d4fbd8a85
DOI
関連タイプ isVersionOf
識別子タイプ DOI
関連識別子 https://doi.org/10.1109/WCICA.2008.4593288
ISBN
関連タイプ isPartOf
識別子タイプ ISBN
関連識別子 978-1-4244-2113-8
書誌情報 en : 7th World Congress on Intelligent Control and Automation (WCICA 2008)

p. 2339-2344, 発行日 2008-06
フォーマット
application/pdf
著者版フラグ
値 publisher
URI
識別子 http://hdl.handle.net/2237/11149
識別子タイプ HDL
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