A stochastic model and performance measure of a multi-sensory system for robotized assembly operation

摘要

Robotized assembly is a potential field of manufacturing engineering research, pertaining to the scenario of advanced automation in todays' industrial environment. The paper describes the paradigms of robotic assembly with the aid of a stochastic model, based on the real-life study of a multi-sensory system. The sensory system, comprising a force sensor, a torque sensor, two proximity sensors and a laser sensor, is placed judiciously around the wrist of an industrial robot. The model has been developed on the basis of dynamic simulation of the entire robotic system, starting from the on-line calibration of each of these sensors. The model has been delineated with analysis, mathematical formulae and logical backup and has been verified through experimentations in order to perform typical assembly tasks.