Robotic assembly system guided by multiple vision and laser sensors for large scale components
Wang, Peng1; Qin, Zhengke1; Xiong, Zhao2; Lu, Jinyan1; Xu, De1; Yuan, Xiaodong2; Liu, Changchun2
2015-12
Conference NameRobotics and Biomimetics (ROBIO), 2015 IEEE International Conference on
Conference Date6-9 Dec. 2015
Conference PlaceZhuhai, China
Abstract
The assembly of large scale components are still challenging tasks due to the heavy weights of the objects, and the requirements of high precision and high efficiency. Therefore, the design of robotic assembly system for large scale components, and the studies on the corresponding methods and strategies are still very important and very urgent. In this paper, we design a new robotic assembly system for large scale components guided by two vision sensors and three 1-D laser sensors. Novel high precision localization and alignment methods are proposed to automatically localize the components and search the best three-dimensional position and orientation between the object and the installation location. Experimental results show that the system can well complete the assembly task for large scale components automatically, including automatic detection and localization, automatic grasping, automatic guidance, and automatically insertion, with high precision and high efficiency.
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/14763
Collection复杂系统管理与控制国家重点实验室_机器人理论与应用
Corresponding AuthorWang, Peng
Affiliation1.Institute of Automaton, Chinese Academy of Science
2.Research Center of Laser Fusion, China Academy of Engineering Physics
Recommended Citation
GB/T 7714
Wang, Peng,Qin, Zhengke,Xiong, Zhao,et al. Robotic assembly system guided by multiple vision and laser sensors for large scale components[C],2015.
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