engleski

Intelligent robotic assembly by machine vision and CAD integration

This paper deals with the development of an autonomous robotic assembly system capable of operating in a disordered working environment. A fundamental prerequisite for the autonomous robot behavior is the perception of its environment. The machine vision has proven to be the main technology that provides the visual perception to technical systems. The model of the integrated autonomous assembly system developed in this work uses machine vision based on the idea of information integration. The given approach tends to maximize the use of the CAD data and the integration of the subsequent assembly process, i.e. the integration of engineering and process information. A CAD model embodies the description of the product geometry, which determines the parameters of the production and assembly processes, primarily applied for vision system. In accordance with the presented model, an autonomous robotic assembly cell is realized and the required machine vision software and robot control program are developed. The system is verified on real assembly tasks, using a simple laboratory product.

machine vision; robotics; assembly; automation; artificial intelligence

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