Open AccessCrankshaft-Bearing Assembly Based on Vision-Guided and Attractive Regions in the Environment
Author(s) -
Weifeng Zhu,
Haida Feng,
Mingjie Zhang,
Yi Yang
Publication year - 2022
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/2173/1/012032
Subject(s) - crankshaft , bearing (navigation) , computer vision , machine vision , computer science , artificial intelligence , robot , position (finance) , smt placement equipment , engineering , mechanical engineering , finance , economics
Aiming at the problem of sensor-less high-precision manipulation, this paper designs and constructs a crankshaft-bearing assembly system based on vision-guided and attractive region in environment. A pre-analysis and evaluation of the attitude measurement accuracy method is proposed to describe the trusted region of the current assembly pose through vision. Then its high-dimensional attractive regions of environment constraints is constructed based on the mechanical constraints between the assembly object and the assembly position. Combine the complementary advantages of vision and mechanical information, a robot adjust its pose to a high precision manipulation pose. A platform of an industrial robot with a vision system is built and experiments on the crankshaft and bearing are successfully assembled. It is validated that using the proposed the vision-guided and attraction region in environment system, high precision assembly manipulation is realized.