Random exploration strategy: A new paradigm in robotics. A comparison with determinist approaches
This paper presents the latest results of a joint research project involving the Institute of Microengineering of the Swiss Federal Institute of Technology (Switzerland) and the Industrial Automation Laboratory of the Lyon National Institute of Applied Sciences (France). This project consists in the implementation of a robotic assembly method for chamferless parts by using a very fast parallel robot called DELTA. The paper recalls the main features of the system in order to focus on the experimental evaluation of different search strategies employed to absorb misalignment between pieces, paying particular attention to the comparison of the mean search time of random and deterministic trajectories (such as random, Lissajous' and spiral trajectories) as a function of the clearance of parts. The experimental results obtained in this work show a better performance of the random strategy and stress the benefits of adopting a stochastic approach to design and implement open-loop control strategies for robotic assembly processes. © 1995.
Keywords: Assembly robots ; Random searches ; Robot Control ; Search methods ; Automation ; Control system synthesis ; Errors ; Motion control ; Random processes ; Robots ; Trajectories ; Chamferless parts ; Deterministic trajectories ; Open loop control strategies ; Robotic assembly
IMMI, 65B, Boulevard des Alpes, 38240 Meylan, France Laboratoire d'Automatique Industrielle, Institut National des Sciences Appliquées, 20, Av. Albert Einstein, F-69621 Villeurbanne Cedex, France Institute of Microengineering, Swiss Federal Institute of Technology, CH-1015 Lausanne, Switzerland
Export Date: 6 December 2012
Language of Original Document: English
Correspondence Address: Badano, F.; IMMI, 65B, Boulevard des Alpes, 38240 Meylan, France
Record created on 2013-01-07, modified on 2016-08-09