Electric connector assembly based on vision and impedance control using cable connector-feeding system

Hee Chan Song, Young Loul Kim, Dong Hyeong Lee, Jae Bok Song

Research output: Contribution to journalArticlepeer-review

21 Citations (Scopus)


In this study, a method for the electric connector-mating process in a wiring harness assembly system is proposed. In connector-assembly tasks, grasping the electric connector is a crucial step. Therefore, a cable connector-feeding system is developed to align cable connectors so that they can be grasped straight and held firmly by the robot. After the grasping problems are solved, a tilt strategy with impedance control is used to overcome the position errors caused by the vision system. The location of the connector header (Female part of connector) is detected using visual servoing with markers. Then, impedance control is adopted to achieve compliant contact motion and minimize position/orientation errors. The performance of the proposed electric connector-assembly strategy is evaluated by a series of experiments using a six-degree of freedom industrial robot equipped with a force/torque sensor and an eye-in-hand camera.

Original languageEnglish
Pages (from-to)5997-6003
Number of pages7
JournalJournal of Mechanical Science and Technology
Issue number12
Publication statusPublished - 2017 Dec 1

Bibliographical note

Funding Information:
This work was supported by the MOTIE under the Industrial Foundation Technology Development Program, which is supervised by the KEIT (No. 10060110).

Publisher Copyright:
© 2017, The Korean Society of Mechanical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature.


  • Assembly strategy
  • Electric connector
  • Feeding system
  • Impedance control

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering


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