8 December 2015 3D vision assisted flexible robotic assembly of machine components
Author Affiliations +
Proceedings Volume 9875, Eighth International Conference on Machine Vision (ICMV 2015); 98751O (2015) https://doi.org/10.1117/12.2229053
Event: Eighth International Conference on Machine Vision, 2015, Barcelona, Spain
Robotic assembly systems either make use of expensive fixtures to hold components in predefined locations, or the poses of the components are determined using various machine vision techniques. Vision-guided assembly robots can handle subtle variations in geometries and poses of parts. Therefore, they provide greater flexibility than the use of fixtures. However, the currently established vision-guided assembly systems use 2D vision, which is limited to three degrees of freedom. The work reported in this paper is focused on flexible automated assembly of clearance fit machine components using 3D vision. The recognition and the estimation of the poses of the components are achieved by matching their CAD models with the acquired point cloud data of the scene. Experimental results obtained from a robot demonstrating the assembly of a set of rings on a shaft show that the developed system is not only reliable and accurate, but also fast enough for industrial deployment.
© (2015) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Philips S. Ogun, Philips S. Ogun, Zahid Usman, Zahid Usman, Karthick Dharmaraj, Karthick Dharmaraj, Michael R. Jackson, Michael R. Jackson, } "3D vision assisted flexible robotic assembly of machine components", Proc. SPIE 9875, Eighth International Conference on Machine Vision (ICMV 2015), 98751O (8 December 2015); doi: 10.1117/12.2229053; https://doi.org/10.1117/12.2229053


On-line visual prosthesis for a decision maker
Proceedings of SPIE (January 31 1991)
Design Of A Robotic Locating System
Proceedings of SPIE (January 16 1985)
Applying Machine Vision To Robotic Automation
Proceedings of SPIE (October 18 1987)
An Expert Supervisor For A Robotic Work Cell
Proceedings of SPIE (February 18 1988)
Corner detector for 3D object recognition
Proceedings of SPIE (October 31 1992)
Integrating Sensory Data for Object Recognition Tasks
Proceedings of SPIE (June 08 1986)
Expert Robots For Automated Packaging And Processing
Proceedings of SPIE (February 08 1989)

Back to Top