Analytical models to study the impact of error detection and recovery on the performance of a robotic assembly cell

Abstract

Abstract This paper focuses on the analysis of effects of automatic Error Detection and Recovery (EDR) on the performance of robotic assembly cells. In order to perform the analysis we present a continuous time semi-Markov process (CTSMP) model of the robotic assembly cell. In our models, the assembly robot attempts EDR before resorting to calling operator assistance. In this context, an iterative algorithm to estimate the operator interference time is developed. The same methodology can be used to assess effectiveness of an automatic EDR. The major contribution of this paper lies in integrating the analysis of automatic and operator assisted EDR.