Visual servo guided cyber-physical robotic assembly cell

摘要

Advanced robotic assembly systems are promising great benefits to the manufacturing sector, once the shortcomings of the current technologies are overcome. One of the biggest obstacles to introducing flexible robotic systems is the ability of robots to sense and perceive the semi-structured or unstructured environment. This paper presents a cyber-physical system based framework of a robotic assembly cell that is capable of recognizing resources of assembly processes, based on information from various visual sensors and updating and adapting the assembly plan in the digital twin of the robotic cell. Thus, calculates and executes feasible motion plans of the robots based on accurate digital information. The application of the framework is demonstrated in a physical assembly process.