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

Author

Roy, Debanik ; Deb, S.R.

Author_Institution

Dept. of Mech. Eng., Regional Eng. Coll., Assam, India

fYear

1995

fDate

5-7Jan 1995

Firstpage

285

Lastpage

290

Abstract

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

Keywords

assembling; distance measurement; force measurement; industrial robots; torque measurement; advanced automation; dynamic simulation; force sensor; industrial robot; laser sensor; multi-sensory system; performance measure; proximity sensors; robotized assembly operation; stochastic model; torque sensor; Force sensors; Manufacturing automation; Manufacturing industries; Robot sensing systems; Robotic assembly; Robotics and automation; Sensor systems; Service robots; Stochastic processes; Stochastic systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Automation and Control, 1995 (I A & C'95), IEEE/IAS International Conference on (Cat. No.95TH8005)

Conference_Location

Hyderabad

Print_ISBN

0-7803-2081-6

Type

conf

DOI

10.1109/IACC.1995.465827

Filename

465827