Two piece jig-saw puzzle robot assembly with vision, position and force feedback

Abstract

This paper presents a robotic assembly of two 3-D jig-saw puzzle pieces, using vision, position and force feedback. Geometrical aspects are discussed together with force history of the experiments. An installation using 7565 I.B.M. robot with a CCD camera on the robot arm is described. Successful experiments proved the possibility of assembling parts with complex contours when force feedback is used during fine assembly. A videotape of the demonstration is available. RR 107/1987.