Abstract
A robotic wiring harness assembly system, basing on vision and force/torque sensors, is developed to realize successful mating of electric connectors for improving productivity. In this system, two cameras are firstly used to detect the position and the pose of a grasped connector in 3D, and then the corresponding bias is calculated roughly to guarantee the connector can be contacted with the other opposite part. After that, a force/torque sensor is used to detect and judge the contact styles to assist system in applying searching and inserting strategies correspondingly. The experiment results show the proposed system can detect and diagnose the position and pose errors occurring in the assembly process correctly, and realize error recovery automatically and mating successfully. It reveals that the error-tolerable capability of the proposed system is improved evidently caused by applying the combination of vision and force sensors.
