Vision guided robots for automated assembly

A vision guided robot system consisting of a stereo-pair of CCD array cameras mounted on the end-effector of a six-axis revolute robot arm is presented. The accuracy of the vision system, the robot, and the manufacturing requirements is considered from a systems point of view. The development of aut...

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Bibliographic Details
Published inProceedings. 1988 IEEE International Conference on Robotics and Automation pp. 1611 - 1616 vol.3
Main Authors King, F.G., Puskorius, G.V., Yuan, F., Meier, R.C., Jeyabalan, V., Feldkamp, L.A.
Format Conference Proceeding
LanguageEnglish
Published IEEE Comput. Soc. Press 1988
Subjects
Automotive engineering
Calibration
Cameras
Charge coupled devices
Charge-coupled image sensors
Machine vision
Manufacturing
Robot vision systems
Robotic assembly
Robotics and automation
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Summary:A vision guided robot system consisting of a stereo-pair of CCD array cameras mounted on the end-effector of a six-axis revolute robot arm is presented. The accuracy of the vision system, the robot, and the manufacturing requirements is considered from a systems point of view. The development of automated calibration methodologies for local and global work volumes of the robot/vision system is discussed. The accuracy of local calibration which is on the order of 1.5 mm is sufficient for many automotive assembly applications. The assembly strategy is described, and multiple-component assembly and robotic fastening with the vision guided robot is reported.< >
ISBN:0818608528
9780818608520
DOI:10.1109/ROBOT.1988.12297