Monitoring Robotic Assembly Using Accelerometers And Coherent Ultrasonic Sensors

摘要

This paper presents a model for dynamic monitoring of the assembly process using a synchronized combination of accelerometers, coherent ultrasonics and a light beam. This type of sensor fusion makes it possible to carry out both diagnosis of the separate operations and to support error recovery routines. In this paper we thus concentrate on some interesting uses of inertial sensing at impact in a typical insertion operation.The basic concept assumes a gripper, equipped with a light beam in the finger tips (to time-tag movement of an object into or out of the gripper), a coherent ultrasonic interferometer (to monitor the subsequent relative displacement between the gripper and the object) and inertial sensors (to monitor impulsive forces during gripping). The properties of the coherent ultrasonic sensor have been described elsewhere.