Remote robotic assembly guided by 3D models linking to a real robot
2014 (English)In: CIRP annals, ISSN 0007-8506, E-ISSN 1726-0604, Vol. 63, no 1, 1-4 p.Article in journal (Refereed) Published
This paper presents a 3D model-driven remote robotic assembly system. It constructs 3D models at runtime to represent unknown geometries at the robot side, where a sequence of images from a calibrated camera in different poses is used. Guided by the 3D models over the Internet, a remote operator can manipulate a real robot instantly for remote assembly operations. Experimental results show that the system is feasible to meet industrial assembly requirements with an acceptable level of modelling quality and relatively short processing time. The system also enables programming-free robotic assembly where the real robot follows the human's assembly operations instantly.
Place, publisher, year, edition, pages
2014. Vol. 63, no 1, 1-4 p.
Robot, 3D-image processing, Assembly
IdentifiersURN: urn:nbn:se:kth:diva-148644DOI: 10.1016/j.cirp.2014.03.013ISI: 000338811000001ScopusID: 2-s2.0-84902543990OAI: oai:DiVA.org:kth-148644DiVA: diva2:737027
QC 201408112014-08-112014-08-112014-08-11Bibliographically approved