Fault Diagnosis and Recovery for Mating Connectors in Robotic Wiring Harness Assembly Systems
To obtain a secured mating of electric connectors is one of the most important steps in a robotic wiring harness assembly system. Assembly faults might occur in the process of mating due to the small size of connectors. Possible faults in different assembly phases are analysed and modelled by piecewise affine models. The corresponding fault diagnosis task is regarded as a multiclasses pattern recognition problem, which is dealt with by a hierarchical fuzzy pattern matching (HFPM) classifier. Recovery algorithms are proposed to obtain a successful mating process. A typical type of connectors is investigated in this paper. The results can easily be extended to other types. The effectiveness of all proposed methods is confirmed through experiments.
Robotic wiring harness assembly fuzzy pattern matching fault detection and diagnosis (FDD) error
Jian Huang Toshio Fukuda
Department of Control Science & Engineering,Huazhong University of Science & Technology,430074,Wuhan Department of Micro-Nano System Engineering,Nagoya University,464-8603 Chikusa-ku,Nagoya,Japan
国际会议
2008高等智能国际会议(2008 International Conference on Advanced Intelligence)
北京
英文
2008-10-18（万方平台首次上网日期，不代表论文的发表时间）