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The automotive industry increasingly seeks to decrease costs by automation. This remains a challenge for tasks requiring high dexterity, such as wire harness connector installation. This work presents an automated approach for robust connector installation using force-controlled search and insertion strategies within a skill-based programming system. Validated on a car door, the system achieves a success rate of 76.7% while compensating positional uncertainties up to 15 mm. Additionally, a specialized wiggle skill to reduce cable tension during installation is developed. A dataset of 60 insertion trials is provided to support future research and development.

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Automotive Wire Harness Connector Installation Using Skill-Based Robotic Programming

  • 会议论文

  • 发表日期：

    2025年

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  • Andreas Kernbach,
  • Daniel Bargmann,
  • Manuel Zürn,
  • Carsten Schmerbeck,
  • Alper Yaman,
  • Mara Kläb,
  • Lukas Zeh,
  • Philipp Tenbrock,
  • Samiha Durnagoez,
  • Mathias Mayer,
  • Armin Lechler,
  • Michael Heizmann,
  • Alexander Verl,
  • Werner Kraus,
  • Marco F. Huber

摘要

The automotive industry increasingly seeks to decrease costs by automation. This remains a challenge for tasks requiring high dexterity, such as wire harness connector installation. This work presents an automated approach for robust connector installation using force-controlled search and insertion strategies within a skill-based programming system. Validated on a car door, the system achieves a success rate of 76.7% while compensating positional uncertainties up to 15 mm. Additionally, a specialized wiggle skill to reduce cable tension during installation is developed. A dataset of 60 insertion trials is provided to support future research and development.