Visual Inspection and Error Detection in a Reconfigurable Robot Workcell: An Automotive Light Assembly Example

摘要

This paper describes visual inspection and error detection in a reconfigurable robot workcell. Small and medium size enterprises (SMEs) often have small batch production. It leads to decreasing productlifetimes and also to more frequent product launches. In order to assist such production, a highly reconfigurablerobot workcell is being developed. In this work, a visual inspection system designed for the robot workcell ispresented and discussed in the context of the automotive light assembly example. The proposed frameworkis implemented using ROS and OpenCV libraries. We describe the hardware and software components of theframework and explain the system’s benefits when compared to other commercial packages.