Hidden Markov Models as a Process Monitor in Robotic Assembly

摘要

A process monitor for robotic assembly based on Hidden Markov Models (HMMs) is presented. The HMM process monitor is based on the dynamic force/torque signals arising from interaction between the workpiece and the environment. The HMMs represent a stochastic, knowledge-based system where the models are trained off-line with the Baum-Welch re-estimation algorithm. The assembly task is modeled as a discrete event dynamic system, where a discrete event is defined as a change in contact state between the workpiece and the environment. Our method 1) allows for dynamic motions of the workpiece, 2) accounts for sensor noise and friction and 3) exploits the fact that the amount of force information is large when there is a sudden change of discrete state in robotic assembly. After the HMMs have been trained, we use them on-line in a 2D experimental setup to recognise discrete events as they occur. Successful event recognition with an accuracy as high as 97% was achieved in 0.5-0.6 seconds with...