Vision Guided Robots For Automated Assembly

摘要

A vision guided robot for assembly is defined to be a robot/vision system that acquires robotic destination poses (location and orientation) by visual means so that the robot's end-effector can be positioned at the desired poses. In this paper, the robot/vision system consists of a stereo-pair of CCD array cameras mounted to the end-effector of a six-axis revolute robot arm. From a systems point of view, accuracy issues of the vision system, the robot, and the manufacturing requirements are considered for the development of automated calibration methodologies for local and global work volumes of the robot/vision system. Resulting accuracy of local calibration on the order of 1.5 mm is sufficient for many automotive assembly applications. Multiple component assembly and robotic fastening has been demonstrated with the developed vision guided robot.