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

摘要

Robotized assembly is a potential field of manufacturingengineering research, pertaining to the scenario of advanced automationin todays' industrial environment. The paper describes the paradigms ofrobotic assembly with the aid of a stochastic model, based on thereal-life study of a multi-sensory system. The sensory system,comprising a force sensor, a torque sensor, two proximity sensors and alaser sensor, is placed judiciously around the wrist of an industrialrobot. The model has been developed on the basis of dynamic simulationof the entire robotic system, starting from the on-line calibration ofeach of these sensors. The model has been delineated with analysis,mathematical formulae and logical backup and has been verified throughexperimentations in order to perform typical assembly tasks