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Fault-tolerant Mating Process of Electric Connectors in Robotic Wiring Harness Assembly Systems
http://hdl.handle.net/2237/11149
http://hdl.handle.net/2237/11149b27e75f8-9918-46b6-ad32-e55e4abd705d
名前 / ファイル | ライセンス | アクション |
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WCICA08-huang.pdf (220.9 kB)
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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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× Di, Pei× Fukuda, Toshio× 福田, 敏男× Matsuno, Takayuki |
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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 |
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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 |