Application of AHP-FCA modeling in visual guided manipulator

摘要

Visual guided manipulator is widely used in various fields such as product positioning, production and assembly for its high automation and good reliability. Grasping priority is one of the most challenging problems in positioning grasping. In this paper, fuzzy comprehensive assessment based on analytic hierarchy process (AHP-FCA) is proposed to provide a solution for grasping priority. The application of AHP-FCA is illustrated by the example of visual guided manipulator grasping scattered parts. Firstly, the hierarchical structure is established and the weight is given to the factors that influence the grasping. Secondly, the fuzzy evaluation matrixes are constructed and the construction process is simulated in DELMIA. Finally, the comprehensive evaluation result is calculated on the basis of the evaluation process of AHP-FCA. The comprehensive evaluation case demonstrates the validity of the proposed AHP-FCA model in visual guided manipulator.