Vision Guided Robots For Automated Assembly

F. G. King; G. V. Puskorius; F. Yuan; R. C. Meier; V. Jeyabalan; L. A. Feldkamp

doi:10.1117/12.942797

19 February 1988 Vision Guided Robots For Automated Assembly

F. G. King, G. V. Puskorius, F. Yuan, R. C. Meier, V. Jeyabalan, L. A. Feldkamp

Proceedings Volume 0848, Intelligent Robots and Computer Vision VI; (1988) https://doi.org/10.1117/12.942797
Event: Advances in Intelligent Robotics Systems, 1987, Cambridge, CA, United States

Abstract

A vision guided robot for assembly is defined to be a robot/vision system that acquires robotic destination poses (location and orientation) by visual means so that the robot's end-effector can be positioned at the desired poses. In this paper, the robot/vision system consists of a stereo-pair of CCD array cameras mounted to the end-effector of a six-axis revolute robot arm. From a systems point of view, accuracy issues of the vision system, the robot, and the manufacturing requirements are considered for the development of automated calibration methodologies for local and global work volumes of the robot/vision system. Resulting accuracy of local calibration on the order of 1.5 mm is sufficient for many automotive assembly applications. Multiple component assembly and robotic fastening has been demonstrated with the developed vision guided robot.

Citation Download Citation

F. G. King, G. V. Puskorius, F. Yuan, R. C. Meier, V. Jeyabalan, and L. A. Feldkamp "Vision Guided Robots For Automated Assembly", Proc. SPIE 0848, Intelligent Robots and Computer Vision VI, (19 February 1988); https://doi.org/10.1117/12.942797

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available