Title :
Error recovery strategies for electronic connectors mating in robotic fault-tolerant assembly system
Author :
Fei Chen ; Cannella, F. ; Sasaki, Hiromu ; Canali, Carlo ; Fukuda, Toshio
Author_Institution :
Dept. of Adv. Robot., Ist. Italiano di Tecnol., Genoa, Italy
Abstract :
Mating of electronic connectors is an indispensable process for assembling electrical elements in wiring harness manufacturing system. This paper presents error recovery strategies for electronic connectors mating assembly with uncertain position. In this system, there is no visual assistance but only a force sensor is used to recognize errors during mating. A tilt strategy for error recovery method is also proposed to guide the connecter assembly, and corresponding search strategies are proposed for fault detection and diagnosis and recovering errors raised in connector mating. The experimental results demonstrate that the proposed strategies is able to diagnose the position errors within the assembly process accurately, and realize error recovery effectively.
Keywords :
electric connectors; electronics industry; fault diagnosis; fault tolerant control; force control; force sensors; industrial manipulators; position control; robotic assembly; uncertain systems; wiring; connecter assembly guidance; electrical element assembly; electronic connectors mating assembly; error recognition; error recovery method; error recovery strategy; fault detection; fault diagnosis; force sensor; position error; robotic fault-tolerant assembly system; robotic manipulator; tilt strategy; uncertain position; wiring harness manufacturing system; Assembly; Connectors; Contacts; Force; Robot sensing systems; Spirals;
Conference_Titel :
Mechatronic and Embedded Systems and Applications (MESA), 2014 IEEE/ASME 10th International Conference on
Conference_Location :
Senigallia
Print_ISBN :
978-1-4799-2772-2
DOI :
10.1109/MESA.2014.6935587
