Automatic assembly with dual robotic arms based on mutual visual tracking and positioning

摘要

The replacement of humans by machines has gradually become a technological trend. In this study, a dual robotic arm was used in the belt conveyor operation system to track the screw and nut assembly using mutual visual tracking and positioning technology. Moreover, this study simulated the automatic assembly process using a dual robotic arm in a smart factory. An inverse kinematics operation was constructed using a geometric method to control the dual robotic arm to track the screw and nut assembly on the conveyor belt in real time using mutual visual tracking and positioning technology based on a single-lens charge-coupled device of a robotic arm. This study utilized a dual robotic arm to grab the screw and nut using fuzzy visual tracking control. After completing the grabbing of the screw and nut with tracking and positioning errors of 8%, the dual robotic arms continued to complete the assembly of the screw and nut. Therefore, through the establishment technology of mutual visual tracking and positioning of the dual robotic arm in this study, assembly tasks can be efficiently completed in related fields in the future.