Title :
Robust Model-Based Online Fault Detection for Mating Process of Electric Connectors in Robotic Wiring Harness Assembly Systems
Author :
Huang, Jian ; Di, Pei ; Fukuda, Toshio ; Matsuno, Takayuki
Author_Institution :
Dept. of Control Sci. & Eng., Huazhong Univ. of Sci. & Technol., Wuhan, China
Abstract :
Mating a pair of electric connectors is one of the most important steps in a robotic wiring harness assembly system, which can be modeled by static piecewise affine (PWA) systems. To design a fault detection system for this application, a set-membership approach for static PWA systems is proposed, in which parallelotopic approximation of feasible parameter sets is adopted. An online algorithm is obtained to estimate bounds of uncertain transition points of the PWA model. Based on the estimation, a robust online fault detection algorithm is proposed. The robustness and sensitivity of the algorithm are analyzed. The effectiveness of these methods is finally confirmed through experiments.
Keywords :
electric connectors; electrical products industry; fault diagnosis; robotic assembly; wiring; electric connectors; mating process; parallelotopic approximation; robotic wiring harness assembly systems; robust model-based online fault detection; static piecewise affine systems; uncertain transition points; Assembly systems; Connectors; Electrical fault detection; Fault detection; Fault diagnosis; Robot sensing systems; Robotic assembly; Robustness; Uncertainty; Wiring; Fault detection; hybrid systems; piecewise affine (PWA) systems; robotic wiring harness assembly; set-membership approach;
Journal_Title :
Control Systems Technology, IEEE Transactions on
DOI :
10.1109/TCST.2009.2034735
