VISUAL SERVOING FOR ROBOTIC ASSEMBLY

摘要

Visual feedback has traditionally been used in the assembly process to a very limited extent. With the advent of effective visual servoing techniques, visual feedback can become an integral part of the assembly process by complementing the use of force feedback to accomplish precision assemblies in imprecisely calibrated robotic assembly workcells. In this paper we present some of the issues pertaining to the introduction of visual servoing techniques into the assembly process and solutions we have demonstrated to these problems. 1. Introduction Geometric modeling systems are rapidly replacing manual drafting techniques for defining the geometry of mechanical parts and assemblies during the design process. This makes possible the development of software tools to aid the manufacturing engineer in setting up assembly workcells, thus, integrating design and manufacturing. Robotic assembly workcells have been created which can be automatically programmed, including the automatic generati...