Kernbach, AndreasAndreasKernbachBargmann, DanielDanielBargmannZurn, ManuelManuelZurnSchmerbeck, CarstenCarstenSchmerbeckYaman, AlperAlperYamanKläb, MaraMaraKläbZeh, LukasLukasZehTenbrock, PhilippPhilippTenbrockDurnagoez, SamihaSamihaDurnagoezMayer, MathiasMathiasMayerLechler, ArminArminLechlerHeizmann, MichaelMichaelHeizmannVerl, Alexander W.Alexander W.VerlKraus, WernerWernerKrausHuber, MarcoMarcoHuber2025-11-032025-11-032025https://publica.fraunhofer.de/handle/publica/49802410.1007/978-3-031-89471-8_262-s2.0-105006507064The 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.enfalseconference paper