3D vision assisted flexible robotic assembly of machine components .pdf (2.18 MB)
3D vision assisted flexible robotic assembly of machine components
conference contribution
posted on 2017-06-16, 15:18 authored by Phil Ogun, Zahid Usman, Karthick Dharmaraj, Michael JacksonRobotic 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.
History
School
- Mechanical, Electrical and Manufacturing Engineering
Published in
8th International Conference on Machine VisionCitation
OGUN, P. ... et al., 2015. 3D vision assisted flexible robotic assembly of machine components. IN: Proceedings of 2015 8th International Conference on Machine Vision (ICMV 2015), Barcelona, Spain, 19-21 November 2015 (Proceedings of SPIE, 9875, DOI: 10.1117/12.2229053).Publisher
© SPIEVersion
- VoR (Version of Record)
Publisher statement
This work is made available according to the conditions of the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International (CC BY-NC-ND 4.0) licence. Full details of this licence are available at: https://creativecommons.org/licenses/by-nc-nd/4.0/Publication date
2015Notes
© 2015 Society of Photo-Optical Instrumentation Engineers. One print or electronic copy may be made for personal use only. Systematic reproduction and distribution, duplication of any material in this paper for a fee or for commercial purposes, or modification of the content of the paper are prohibited.Publisher version
Language
- en