TRAJECTORY MEASUREMENT OF MOVING OBJECTS FOR ROBOTIC ASSEMBLY

Robert Schmitt, Tilo Pfeifer, Yu Cai, Allan Oliveira Da Silva, Philipp Jatzkowski

Abstract

Automated robotic assembly on moving objects, called as assembly in motion, demands that the assembly robot is synchronised in all degrees of freedom to the moving workpiece, on which assembly parts are installed. Currently this requirement cannot be met due to the lack of robust measurement of the 3D position and the trajectory of the moving workpiece. In this paper, an assembly robot-guided monocular camera system approaching this problem of the trajectory measurement is introduced. The experimental results show the proposed method is able to measure arbitrary trajectories of the assembly point on the workpiece moving in 3D space. The limitation of the developed method of the trajectory measurement for robotic assembly in motion is also analysed.

Keywords

optical measurement, machine vision, robotic assembly

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IMEKO-TC14-2013-51.pdf

DOI

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IMEKO TC

TC14 - Measurement of Geometrical Quantities

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