Correlation between learning (probability of success) and fuzzy entropy in control of intelligent robot's part macro-assembly tasks with sensor fusion techniques
A correlation between a learning and a fuzzy entropy, using the control of robotic part macro-assembly (part-bringing) task as an example, is introduced. Two intelligent part-bringing algorithms, to bring a part from an initial position to an assembly hole or a receptacle (target or destination) for a purpose of a part mating in a partially unknown environment containing obstacles, related to a robotic part assembly task are introduced. An entropy function, which is a useful measure of the variability and the information in terms of uncertainty, is introduced to measure its overall performance of a task execution related to the part-bringing task. The degree of uncertainty associated with the part-bringing task is used as an optimality criterion, e.g. minimum entropy, for a specific task execution. Fuzzy set theory, well-suited to the management of uncertainty, is used to address the uncertainty associated with the macro-assembly procedure. In the first algorithm, a macro-assembly, locating various shaped assembly holes (targets) in the workspace corresponding to the shapes of the parts and then bringing the part to the corresponding target, despite existing obstacles is introduced. This is accomplished by combining a neural network control strategy coordinating with a mobile rectilinear grid composed of optical sensors as well as fuzzy optimal controls. Depending on topological relationships among the part's present position, the position of obstacles, and the target position in the workspace, a specific rulebase from a family of distinct fuzzy rulebases for avoiding obstacles is activated. The higher the probability, the input pattern (or value) of the neural network to be identified as the desired output is, the lower the fuzzy entropy is. Through the fuzzy entropy, a degree of identification between the input pattern and the desired output of the neural network can be measured. In the second algorithm, a macro-assembly with a learning algorithm and a sensor fusion for bringing the part to the target is introduced. By employing a learning approach, the uncertainty associated with the part-bringing task is reduced. The higher the probability of success is, the lower the fuzzy entropy is. The results show clearly the correlation between a probability of success related to the task execution of the part-bringing and the fuzzy entropy, and also show the effectiveness of above methodologies. The proposed technique is not only a useful tool to measure the behaviour of the learning but applicable to a wide range of robotic tasks including motion planning, and pick and place operations with various shaped parts and targets.
learning sensor fusion part macro-assembly (part-bringing) optimality criterion neural network planning correlation (probability of success and fuzzy entropy) fuzzy theory uncertainty (=fuzziness) machine reasoning decision-making optical and vision sensors