Cart (Loading....) | Create Account
Close category search window
 

Hybrid vision-force guided fault tolerant robotic assembly for electric connectors

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

5 Author(s)
Pei Di ; Dept. of Micro Syst. Eng., Nagoya Univ., Nagoya, Japan ; Huang, Jian ; Fei Chen ; Sasaki, H.
more authors

To detect and recover the errors occurred in the task of mating connectors is vital in robotic wiring harness systems. In our previous work, a set-membership approach for static piecewise affine (PWA) system was proposed. Although using the static force model, errors can be detected effectively during mating connectors, there are still some mistaken detections and unrecognized faults, due to the insufficient sensor information and limitation of model. Before the mating task, there are various kinds of grasping errors. Only using force sensor is unable to detect the grasping errors. In this study, a new hybrid vision-force guided fault tolerant approach is proposed to improve the rate of error detection. More features from the vision system are chosen as the parameters of the fault tolerant system. Multiple sensors including a force sensor, encoders and an industrial vision system are assumed to acquire the necessary information of the method. The effectiveness of these methods is finally confirmed through experiments.

Published in:

Micro-NanoMechatronics and Human Science, 2009. MHS 2009. International Symposium on

Date of Conference:

9-11 Nov. 2009

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.