A vision system for the identification of motor car headlamp reflectors for robotic assembly

AbstractRobotic assembly tasks are typically implemented in static settings in which parts are kept at fixed locations by making use of part holders. Very few works deal with the problem of moving parts in industrial assembly applications. However, having autonomous robots that are able to execute assembly tasks in dynamic environments could lead to more flexible facilities with reduced implementation efforts for individual products. In this paper, we present a general approach towards autonomous robotic assembly that combines visual and intrinsic tactile sensing to continuously track parts within a single Bayesian framework. Based on this, it is possible to implement object-centric assembly skills that are guided by the estimated poses of the parts, including cases where occlusions block the vision system. In particular, we investigate the application of this approach for peg-in-hole assembly. A tilt-and-align strategy is implemented using a Cartesian impedance controller, and combined with an adaptive path executor. Experimental results with multiple part combinations are provided and analyzed in detail.

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Bridging the Gap between Automated Manufacturing of Fuel Cell Components and Robotic Assembly of Fuel Cell Stacks

Energies ◽

10.3390/en12193604 ◽

2019 ◽

Vol 12 (19) ◽

pp. 3604

Author(s):

Devin Fowler ◽

Vladimir Gurau ◽

Daniel Cox

Keyword(s):

Fuel Cell ◽

Alternative Energy ◽

Vision System ◽

Department Of Energy ◽

Robotic Assembly ◽

Assembly Process ◽

Work Cycle ◽

Cell Components ◽

Dual Arm Robot ◽

Manufacturing Technologies

Recently demonstrated robotic assembling technologies for fuel cell stacks used fuel cell components manually pre-arranged in stacks (presenters). Identifying the original orientation of fuel cell components and loading them in presenters for a subsequent automated assembly process is a difficult, repetitive work cycle which if done manually, deceives the advantages offered by either the automated fabrication technologies for fuel cell components or by the robotic assembly processes. We present for the first time a robotic technology which enables the integration of automated fabrication processes for fuel cell components with a robotic assembly process of fuel cell stacks into a fully automated fuel cell manufacturing line. This task uses a Yaskawa Motoman SDA5F dual arm robot with integrated machine vision system. The process is used to identify and grasp randomly placed, slightly asymmetric fuel cell components, to reorient them all in the same position and stack them in presenters in preparation for a subsequent robotic assembly process. The process was demonstrated as part of a larger endeavor of bringing to readiness advanced manufacturing technologies for alternative energy systems, and responds the high priority needs identified by the U.S. Department of Energy for fuel cells manufacturing research and development.

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RECONFIGURABLE MODULES, PROGRAMMABLE LOGIC CONTROLLER, AND VISION SYSTEM FOR DUAL ROBOT ASSEMBLY WORKCELL DESIGN

Journal of Advanced Manufacturing Systems ◽

10.1142/s0219686703000320 ◽

2003 ◽

Vol 02 (02) ◽

pp. 201-228 ◽

Cited By ~ 1

Author(s):

SHENG-JEN HSIEH

Keyword(s):

Optical Sensors ◽

Operations Management ◽

System Integration ◽

Vision System ◽

Cost Effective ◽

Programmable Logic Controller ◽

Robotic Assembly ◽

Future Research ◽

Programmable Logic ◽

Web Based

Robot workcell system design involves integrating one or more robots with components such as conveyors, pallets, machine tools, and fixtures. Previous work in workcell design has addressed control and operations management issues such as scheduling. There has been relatively little emphasis on overall design, interface, system integration and agility issues. This paper provides a detailed technical description of (1) a cost-effective approach to prototyping a robotic assembly workcell using off-the-shelf modules and sensors; and (2) the process of designing, building, and integrating a dual robot assembly cell using a programmable logic controller. Modules and sensors used include pneumatic devices, solenoids, Hall effect and optical sensors, relays, optical isolators, conveyor, programmable logic controller, and vision system. Ladder diagrams, vision system inspection tools, and an integration interface were developed to synchronize the sequence of operations and communication between hardware devices. A design framework for web-based control of the system is proposed. Future research directions include web-based monitoring, control, and troubleshooting.

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A Low Cost 3-D Vision System for Robotic Assembly

Image Analysis and Processing II ◽

10.1007/978-1-4613-1007-5_46 ◽

1988 ◽

pp. 417-423

Author(s):

Maurice Poulenard ◽

Georges Stamon

Keyword(s):

Vision System ◽

Low Cost ◽

Robotic Assembly

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Part identification in robotic assembly using vision system

10.1117/12.2051309 ◽

2013 ◽

Cited By ~ 1

Author(s):

Bunil Kumar Balabantaray ◽

Bibhuti Bhusan Biswal

Keyword(s):

Vision System ◽

Robotic Assembly

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A 3-D flexible vision system for robotic assembly cell: an artificial intelligence based approach

10.1049/ic:19950598 ◽

1995 ◽

Author(s):

H. Najjari

Keyword(s):

Artificial Intelligence ◽

Vision System ◽

Robotic Assembly ◽

Assembly Cell

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Mesoscale Robotic Assembly With Orthogonal Optical Alignment for UV-LIGA Parts

Journal of Manufacturing Science and Engineering ◽

10.1115/1.4030269 ◽

2015 ◽

Vol 137 (3) ◽

Author(s):

Xin Ye ◽

Xiaofeng Zhang ◽

Bile Wan ◽

Zhijing Zhang ◽

Pan Liu

Keyword(s):

Vision System ◽

Calibration Method ◽

Robotic Assembly ◽

Inertia Force ◽

Success Rates ◽

Time Consumption ◽

Assembly Accuracy ◽

Object Part ◽

Optical Alignment ◽

Causes Of Failure

This paper proposes an assembly system for ultraviolet-lithographie galvanik abformung (UV-LIGA) parts with a robotic manipulator. Both images of base part and object part could be obtained simultaneously from an in-house orthogonal optical alignment vision system. Two microgrippers were introduced to realize the reliable clamping. An initial calibration method was presented to ensure assembly accuracy. Assembly experiments were conducted with success rates of 80% and the time consumption of 20 min for all four parts assembly. Suspected causes of failure are motion mechanisms' uncertainty, part dislocation resulted from inertia force when microgripper is moving, and the error which is produced in the detection process because of random factors.

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