Model-based Robust 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

Nagoya Univ., Nagoya

fYear

2007

fDate

11-14 Nov. 2007

Firstpage

556

Lastpage

563

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 (FPS) 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 effectiveness of these methods is finally confirmed through experiments.

Keywords

electric connectors; fault diagnosis; robotic assembly; wires (electric); electric connectors mating process; feasible parameter sets; model-based robust online fault detection algorithm; parallelotopic approximation; robotic wiring harness assembly systems; static PWA systems; static piecewise affine systems; Assembly systems; Connectors; Design engineering; Electrical fault detection; Fault detection; Intelligent robots; Piecewise linear approximation; Robotic assembly; Robustness; Wiring;

fLanguage

English

Publisher

ieee

Conference_Titel

Micro-NanoMechatronics and Human Science, 2007. MHS '07. International Symposium on

Conference_Location

Nagoya

Print_ISBN

978-1-4244-1858-9

Electronic_ISBN

978-1-4244-1858-9

Type

conf

DOI

10.1109/MHS.2007.4420916

Filename

4420916