The task-level evaluation model for a flexible assembly task with an industrial dual-arm robot

This paper is aimed to propose an evaluation model for a flexible assembly task with an industrial dual-arm robot. A simple peg-in-hole insertion process is initially realized by a Kawada Nextage Open dual-arm robot equipped with a vision system in a structured environment. Several assumptions are used to satisfy the scenario in practical manufacturing, and various kinds of evaluation performance indices are introduced to analyze the task-level performance in a robotic assembly system with the development of an evaluation model based on CTMC for practitioners to assess the performance of the robotic assembly system. Finally, we implement the peg-in-hole task by means of two strategies respectively. The generated experimental results are combined with the evaluation model to verify the cost-effectiveness for these two strategies.