Journal ArticleDOI
Vision-guided fixtureless assembly of automotive components
Gary M. Bone,David W. Capson +1 more
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TLDR
In this paper, a vision-guided robotic fixtureless assembly (RFA) workcell for automotive components is described, where the robot is equipped with a multiple degree-of-freedom programmable gripper, allowing it to hold a wide range of part shapes without tool changing.Abstract:
Assembly operations in many industries make extensive use of fixtures that are costly and inflexible The goal of “robotic fixtureless assembly” (RFA) is to replace these fixtures with sensor-guided robots In this paper, the development of a vision-guided RFA workcell for automotive components is described Each robot is equipped with a multiple degree-of-freedom programmable gripper, allowing it to hold a wide range of part shapes without tool changing A 2D computer vision is used to achieve part pickup which is robust to positioning errors A novel 3D computer vision system is used to align the parts prior to joining them The actions of the workcell devices are coordinated using a flexible distributed object-oriented approach Experimental results are presented for the RFA of four automotive body componentsread more
Citations
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Automotive assembly technologies review: challenges and outlook for a flexible and adaptive approach
TL;DR: In this article, emerging technologies in the automotive assembly are discussed, along with techniques used in the vehicle assembly plants, and concepts integrating various new technologies into supporting both automated and human-based assembly operations are presented and discussed versus this identified inability for mass customization.
Journal ArticleDOI
Development of reconfigurable machines
TL;DR: In this article, a survey on the development of reconfigurable machines (RMs) is presented, which summarizes the needs and drivers to develop the RMs, defines the academic and practical issues involved in the development, and learns the state of the art of the RMS.
Journal ArticleDOI
Adaptive robotic assembly of compliant aero-structure components
Nirosh Jayaweera,Phil Webb +1 more
TL;DR: In this article, a non-contact sensing system is used to measure part deformation and misalignment in real-time and the acquired data can then be processed through a mathematical algorithm to calculate the relative component positions required for optimal assembly.
Journal ArticleDOI
Measurement error analysis and accuracy enhancement of 2D vision system for robotic drilling
TL;DR: In this article, a method utilizing four laser displacement sensors is proposed to ensure perpendicularity of the camera optical axis to the workpiece surface and correct object distance in the measurement process, and hence to achieve high accuracy in 2D vision-based measurement.
Journal ArticleDOI
Robust Jacobian matrix estimation for image-based visual servoing
TL;DR: In this paper, a method for local estimation through training of the feature Jacobian for uncalibrated closed-loop robot manipulator control is presented, which can handle non-Gaussian outliers due to illumination changes.
References
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Journal ArticleDOI
Multiple camera model-based 3-D visual servo
J. Stavnitzky,David W. Capson +1 more
TL;DR: A multiple camera, visual servo system is presented that tracks and aligns rigid objects in 3D using wire-frame models and is capable of achieving frame-rate object tracking while using nonlinear iterative pose estimation.
Proceedings ArticleDOI
Multi-robot control for flexible fixtureless assembly of flexible sheet metal auto body parts
W. Nguyen,James K. Mills +1 more
TL;DR: This paper addresses methods of control of a multi-robot system designed for the assembly of flexible sheet metal parts by analyzing the dynamic response of the two robot system, while carrying out the assembly operation with the two robots under force control.
Journal ArticleDOI
Dynamic modeling and control of a multi‐robot system for assembly of flexible payloads with applications to automotive body assembly
James K. Mills,Jerry G.-L. Ing +1 more
TL;DR: In this paper, the dynamics of a multi-robot system consisting of two robot manipulators bringing sheet metal parts of an automotive body into contact are modeled with an exponential barrier function.
Proceedings ArticleDOI
3-D flexible fixturing using a multi-degree of freedom gripper for robotic fixtureless assembly
W.J. Plut,Gary M. Bone +1 more
TL;DR: A novel grasping strategy and gripper for fixturing in 3D is presented for the robotic fixtureless assembly application and is implemented on two automotive parts using a multi-degree of freedom gripper.
Proceedings ArticleDOI
Limited mobility grasps for fixtureless assembly
W.J. Plut,Gary M. Bone +1 more
TL;DR: A novel approach to grasping with an end effector for the purposes of fixtureless assembly is presented, based on having the final position of the contacts determined by specific regions of the object geometry.