2007年
Modeling for mating process of electric connectors in robotic wiring harness assembly systems
IECON 2007: 33RD ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1-3, CONFERENCE PROCEEDINGS
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- 開催年月日
- 2007年 - 2007年
- 記述言語
- 英語
- 会議種別
- 主催者
- IEEE
Mating a pair of electric connectors is one of the most important steps in a robotic wiring harness assembly system. A piece-wise linear force model is reported to describe the successful mating process of connectors via elaborate analysis of force during different phases. The corresponding parameter estimation method of this model is also presented by adapting regular least square estimation methods. A typical type of connectors are investigated in this paper. The results can be extended to other types easily. Experiments show that the presented model has good prospects in fault diagnostic tasks.