Vision-guided fixtureless assembly of automotive components

Bone, Gary M.; Capson, David W.

doi:10.1016/s0736-5845(02)00064-9

Cited by 56 publications

(25 citation statements)

References 10 publications

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“…En el área automotriz, los brazos robóticos son utilizados en las líneas de ensamble dentro de las etapas de estampado, taller de carrocería, pintura y ensamble final, como detalla Michalos et al (2010). Por ejemplo, en esta última etapa, a los brazos manipuladores se les adecuó un sistema de cámaras para la visualización de los elementos y la detección de anomalías que puedan influir en la calidad y el buen funcionamiento del producto final, como lo explican Bone y Capson (2013).…”

Section: Introductionunclassified

Sistema Teledirigido de un Brazo Robótico de 4 Grados de Libertad aplicando Visión de Máquina

Salazar¹

2018

reveia

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RESUMENLas aplicaciones robóticas están acompañadas por sistemas de visión de máquina que supervisan las actividades que desarrollan y permiten su control teledirigido. En este trabajo se presentan los resultados del diseño y desarrollo de un sistema de control para el movimiento teledirigido de un brazo robótico de 4 grados de libertad (DOF), aplicando visión de máquina. Los movimientos del manipulador y su efector final dentro del espacio de trabajo se controlan con un dispositivo de tipo joystick, que permite al usuario generar la trayectoria a seguir. Para determinar la posición del brazo robótico se utiliza un sensor Kinect y una figura de referencia situada en la posición final del espacio de trabajo, la cual se reconoce por un sistema de visión de máquina. Esto permite identificar la distancia estimada del manipulador respecto a la figura de referencia, utilizando el mapa de profundidad de la cámara infrarroja (IR). Las pruebas del sistema teledirigido y del sistema de visión de máquina demostraron la exactitud del método para el cálculo de distancias espaciales utilizando el Kinect, con un error bajo, respecto a las distancias medidas reales dentro del entorno de trabajo del manipulador.PALABRAS CLAVES: brazo robótico, control teledirigido, visión de máquina, Kinect. REMOTE CONTROL SYSTEM OF A ROBOTIC ARM 4 DEGREES OF FREEDOM USING MACHINE VISION ABSTRACTToday, robotic applications are accompanied by machine vision systems, which monitor their activities and allow remote control of them. In this paper, the design and development of a control system for the remote-control of a robotic arm with 4 degrees of freedom (DOF) motion using machine vision are presented. The movements of the manipulator and end effector within the workspace, are controlled by a joystick type device that allows the user to generate the path to follow. To determine the position of the robotic arm are used a Kinect sensor and reference figure. This figure is placed in the final position in the workspace, which is recognized by a machine vision system. Kinect estimates the distance Revista EIA, ISSN 1794-1237 / Año XII / Volumen 12 / Edición N.24 / Julio-diciembre 2015 / pp. 121-129 Publicación semestral de carácter técnico-científico / Escuela de Ingeniería de Antioquia -EIA-, Envigado (Colombia) ¹ Pregrado en Ingeniería en Mecatrónica, Universidad Militar Nueva Granada.

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Section: Introductionunclassified

Sistema Teledirigido de un Brazo Robótico de 4 Grados de Libertad aplicando Visión de Máquina

Salazar¹

2018

reveia

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“…Usually, they are used in relatively fixed and inflexible working conditions. Recently, diverse sensors including camera and laser-based 3D sensing systems have been used to provide greater flexibility to the robot thorough visual feedback [3][4][5][6][7][8].…”

Section: Introductionmentioning

confidence: 99%

“…On-line procedure iteratively refine pose using mapping information obtained during off-line stage. Bone and Capson [4] presented an algorithm for robotic fixtures assembly using 2D and 3D computer vision technology. 2D computer vision is used for picking up parts.…”

Section: Introductionmentioning

confidence: 99%

Automatic Registration of Two Parts using Robot with Multiple 3D Sensor Systems

Ha¹

2015

Journal of Electrical Engineering and Technology

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-In this paper, we propose an algorithm for the automatic registration of two rigid parts using multiple 3D sensor systems on a robot. Four sets of structured laser stripe system consisted of a camera and a visible laser stripe is used for the acquisition of 3D information. Detailed procedures including extrinsic calibration among four 3D sensor systems and hand/eye calibration of 3D sensing system on robot arm are presented. We find a best pose using search-based pose estimation algorithm where cost function is proposed by reflecting geometric constraints between sensor systems and target objects. A pose with minimum gap and height difference is found by greedy search. Experimental result using demo system shows the robustness and feasibility of the proposed algorithm.

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“…Therefore, it has no ability to cope with the variation that can occur in production line. Robot with sensor feedback using 2D/3D sensors can give more flexibility [3][4][5][6].…”

Section: Introductionmentioning

confidence: 99%

“…In off-line stage the mapping between sensor measurements and robot's mislocation is determined and in on-line stage iterative pose estimation is done using the mapping from the off-line stage. Bone and Capson [4] deals with fixtureless assembly of automotive parts using 2D and 3D computer vision. They use especially designed programmable grippers for the robotic fixtureless assembly.…”

Section: Introductionmentioning

confidence: 99%

Automatic Manipulation of Tie Rod using Robot with 3D Sensing System

Ha¹,

Lee²

2014

Journal of Electrical Engineering and Technology

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-Robots are widely used in various automation processes in industrial applications.Traditionally, it operated under fixed condition by teaching operating positions. Recently, diverse 2D/3D sensors are used together with robot to give more flexibility in operation. In this paper, we deal with automatic manipulation of tie rod in automotive production line. Sensor system consisted of a camera and slit laser is used for the acquisition of 3D information and it is used attached on the robot. Nut runner is used for the manipulation of stop nut and adjust bolt on the tie rod. Detailed procedures for the automatic manipulation of tie rod are presented. In the presented approach, we effectively use 3D information in whole procedure such as computing distance to the tie rod, rotation angle of bolt and nut. Experimental results show the feasibility of the proposed algorithm.

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Vision-guided fixtureless assembly of automotive components

Cited by 56 publications

References 10 publications

Sistema Teledirigido de un Brazo Robótico de 4 Grados de Libertad aplicando Visión de Máquina

Sistema Teledirigido de un Brazo Robótico de 4 Grados de Libertad aplicando Visión de Máquina

Automatic Registration of Two Parts using Robot with Multiple 3D Sensor Systems

Automatic Manipulation of Tie Rod using Robot with 3D Sensing System

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