Integration of multi-camera vision system for automatic robotic assembly

Longchuan Niu; Matti Saarinen; Reijo Tuokko; Jouni Mattila

doi:10.1016/j.promfg.2019.12.063

Integration of multi-camera vision system for automatic robotic assembly

Longchuan Niu^*
, Matti Saarinen
, Reijo Tuokko
, Jouni Mattila

^*Corresponding author for this work

Automation Technology and Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Scientific › peer-review

10 Citations (Scopus)

38 Downloads (Pure)

Abstract

An automated assembly cell does not come with the luxury of intelligence. A non-adaptive robot manipulator must have more accurate parts and assembly fixtures to a greater accuracy than their assembly tolerances. Accurate parts presentation and the fixturing of assemblies can be a complex and costly portion of an automated cell. Machine vision can be integrated with the assembly process to effectively and efficiently guide the assembly process. This paper presents a framework for an automatic assembly system that consists of an industrial robot and a three-camera vision system, where the tasks involve object detection, pose estimation during pick and place operations, and assembly verification. Given a pocket calculator as an application, the proposed framework can successfully perform autonomous assembly of a pocket calculator. The experiment results verified the efficacy of the proposed method.

Original language	English
Title of host publication	9th International Conference on Physical and Numerical Simulation of Materials Processing (ICPNS’2019)
Publisher	Elsevier
Pages	380-384
Number of pages	5
DOIs	https://doi.org/10.1016/j.promfg.2019.12.063
Publication status	Published - 2019
Publication type	A4 Article in conference proceedings
Event	International Conference on Physical and Numerical Simulation of Materials Processing - Moscow, Russian Federation Duration: 10 Oct 2019 → 15 Oct 2019

Publication series

Name	Procedia Manufacturing
Publisher	Elsevier
Volume	37
ISSN (Print)	2351-9789

Conference

Conference	International Conference on Physical and Numerical Simulation of Materials Processing
Country/Territory	Russian Federation
City	Moscow
Period	10/10/19 → 15/10/19

Funding

The work leading to this publication has been funded in part by TEKES (The Finnish Funding Agency for Technology and Innovation) and eleven Finnish companies. This publication reflects the views only of the authors.

Keywords

Eye-in-hand
Machine vision
Robotic assembly

Publication forum classification

Publication forum level 1

ASJC Scopus subject areas

Industrial and Manufacturing Engineering
Artificial Intelligence

Access to Document

10.1016/j.promfg.2019.12.063Licence: CC BY-NC-ND

Integration of multi-camera vision system 2020Final published version, 1.01 MBLicence: CC BY-NC-ND

http://urn.fi/URN:NBN:fi:tuni-202009046897Licence: CC BY-NC-ND

Cite this

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title = "Integration of multi-camera vision system for automatic robotic assembly",

abstract = "An automated assembly cell does not come with the luxury of intelligence. A non-adaptive robot manipulator must have more accurate parts and assembly fixtures to a greater accuracy than their assembly tolerances. Accurate parts presentation and the fixturing of assemblies can be a complex and costly portion of an automated cell. Machine vision can be integrated with the assembly process to effectively and efficiently guide the assembly process. This paper presents a framework for an automatic assembly system that consists of an industrial robot and a three-camera vision system, where the tasks involve object detection, pose estimation during pick and place operations, and assembly verification. Given a pocket calculator as an application, the proposed framework can successfully perform autonomous assembly of a pocket calculator. The experiment results verified the efficacy of the proposed method.",

keywords = "Eye-in-hand, Machine vision, Robotic assembly",

author = "Longchuan Niu and Matti Saarinen and Reijo Tuokko and Jouni Mattila",

note = "JUFOID=82223; International Conference on Physical and Numerical Simulation of Materials Processing ; Conference date: 10-10-2019 Through 15-10-2019",

year = "2019",

doi = "10.1016/j.promfg.2019.12.063",

language = "English",

series = "Procedia Manufacturing",

publisher = "Elsevier",

pages = "380--384",

booktitle = "9th International Conference on Physical and Numerical Simulation of Materials Processing (ICPNS{\textquoteright}2019)",

address = "Netherlands",

}

Niu, L, Saarinen, M, Tuokko, R & Mattila, J 2019, Integration of multi-camera vision system for automatic robotic assembly. in 9th International Conference on Physical and Numerical Simulation of Materials Processing (ICPNS’2019). Procedia Manufacturing, vol. 37, Elsevier, pp. 380-384, International Conference on Physical and Numerical Simulation of Materials Processing, Moscow, Russian Federation, 10/10/19. https://doi.org/10.1016/j.promfg.2019.12.063

Integration of multi-camera vision system for automatic robotic assembly. / Niu, Longchuan; Saarinen, Matti; Tuokko, Reijo et al.
9th International Conference on Physical and Numerical Simulation of Materials Processing (ICPNS’2019). Elsevier, 2019. p. 380-384 (Procedia Manufacturing; Vol. 37).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Scientific › peer-review

TY - GEN

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AU - Saarinen, Matti

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AU - Mattila, Jouni

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PY - 2019

Y1 - 2019

N2 - An automated assembly cell does not come with the luxury of intelligence. A non-adaptive robot manipulator must have more accurate parts and assembly fixtures to a greater accuracy than their assembly tolerances. Accurate parts presentation and the fixturing of assemblies can be a complex and costly portion of an automated cell. Machine vision can be integrated with the assembly process to effectively and efficiently guide the assembly process. This paper presents a framework for an automatic assembly system that consists of an industrial robot and a three-camera vision system, where the tasks involve object detection, pose estimation during pick and place operations, and assembly verification. Given a pocket calculator as an application, the proposed framework can successfully perform autonomous assembly of a pocket calculator. The experiment results verified the efficacy of the proposed method.

AB - An automated assembly cell does not come with the luxury of intelligence. A non-adaptive robot manipulator must have more accurate parts and assembly fixtures to a greater accuracy than their assembly tolerances. Accurate parts presentation and the fixturing of assemblies can be a complex and costly portion of an automated cell. Machine vision can be integrated with the assembly process to effectively and efficiently guide the assembly process. This paper presents a framework for an automatic assembly system that consists of an industrial robot and a three-camera vision system, where the tasks involve object detection, pose estimation during pick and place operations, and assembly verification. Given a pocket calculator as an application, the proposed framework can successfully perform autonomous assembly of a pocket calculator. The experiment results verified the efficacy of the proposed method.

KW - Eye-in-hand

KW - Machine vision

KW - Robotic assembly

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DO - 10.1016/j.promfg.2019.12.063

M3 - Conference contribution

AN - SCOPUS:85080058479

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BT - 9th International Conference on Physical and Numerical Simulation of Materials Processing (ICPNS’2019)

PB - Elsevier

T2 - International Conference on Physical and Numerical Simulation of Materials Processing

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ER -

Integration of multi-camera vision system for automatic robotic assembly

Abstract

Publication series

Conference

Funding

Keywords

Publication forum classification

ASJC Scopus subject areas

Access to Document

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Cite this