3D vision assisted flexible robotic assembly of machine components

Robotic assembly systems either make use of expensive fixtures to hold components in predefined locations, or the poses of the components are determined using various machine vision techniques. Vision-guided assembly robots can handle subtle variations in geometries and poses of parts. Therefore, th...

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Bibliographic Details
Main Authors:	Phil Ogun, Zahid Usman, Karthick Dharmaraj, Michael Jackson
Format:	Default Conference proceeding
Published:	2015
Subjects:	Mechanical engineering not elsewhere classified 3D vision Robotics Automated assembly Object recognition Point cloud matching Mechanical Engineering not elsewhere classified
Online Access:	https://hdl.handle.net/2134/25454
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id	rr-article-9549236
record_format	Figshare
spelling	rr-article-95492362015-01-01T00:00:00Z 3D vision assisted flexible robotic assembly of machine components Phil Ogun (1247766) Zahid Usman (7150766) Karthick Dharmaraj (1257051) Michael Jackson (1258797) Mechanical engineering not elsewhere classified 3D vision Robotics Automated assembly Object recognition Point cloud matching Mechanical Engineering not elsewhere classified Robotic assembly systems either make use of expensive fixtures to hold components in predefined locations, or the poses of the components are determined using various machine vision techniques. Vision-guided assembly robots can handle subtle variations in geometries and poses of parts. Therefore, they provide greater flexibility than the use of fixtures. However, the currently established vision-guided assembly systems use 2D vision, which is limited to three degrees of freedom. The work reported in this paper is focused on flexible automated assembly of clearance fit machine components using 3D vision. The recognition and the estimation of the poses of the components are achieved by matching their CAD models with the acquired point cloud data of the scene. Experimental results obtained from a robot demonstrating the assembly of a set of rings on a shaft show that the developed system is not only reliable and accurate, but also fast enough for industrial deployment. 2015-01-01T00:00:00Z Text Conference contribution 2134/25454 https://figshare.com/articles/conference_contribution/3D_vision_assisted_flexible_robotic_assembly_of_machine_components/9549236 CC BY-NC-ND 4.0
institution	Loughborough University
collection	Figshare
topic	Mechanical engineering not elsewhere classified 3D vision Robotics Automated assembly Object recognition Point cloud matching Mechanical Engineering not elsewhere classified
spellingShingle	Mechanical engineering not elsewhere classified 3D vision Robotics Automated assembly Object recognition Point cloud matching Mechanical Engineering not elsewhere classified Phil Ogun Zahid Usman Karthick Dharmaraj Michael Jackson 3D vision assisted flexible robotic assembly of machine components
description	Robotic assembly systems either make use of expensive fixtures to hold components in predefined locations, or the poses of the components are determined using various machine vision techniques. Vision-guided assembly robots can handle subtle variations in geometries and poses of parts. Therefore, they provide greater flexibility than the use of fixtures. However, the currently established vision-guided assembly systems use 2D vision, which is limited to three degrees of freedom. The work reported in this paper is focused on flexible automated assembly of clearance fit machine components using 3D vision. The recognition and the estimation of the poses of the components are achieved by matching their CAD models with the acquired point cloud data of the scene. Experimental results obtained from a robot demonstrating the assembly of a set of rings on a shaft show that the developed system is not only reliable and accurate, but also fast enough for industrial deployment.
format	Default Conference proceeding
author	Phil Ogun Zahid Usman Karthick Dharmaraj Michael Jackson
author_facet	Phil Ogun Zahid Usman Karthick Dharmaraj Michael Jackson
author_sort	Phil Ogun (1247766)
title	3D vision assisted flexible robotic assembly of machine components
title_short	3D vision assisted flexible robotic assembly of machine components
title_full	3D vision assisted flexible robotic assembly of machine components
title_fullStr	3D vision assisted flexible robotic assembly of machine components
title_full_unstemmed	3D vision assisted flexible robotic assembly of machine components
title_sort	3d vision assisted flexible robotic assembly of machine components
publishDate	2015
url	https://hdl.handle.net/2134/25454
_version_	1797465113900351488

3D vision assisted flexible robotic assembly of machine components

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