3D Assembly Group Analysis for Cognitive Automation

Christian Brecher, Thomas Breitbach, Simon Müller, Marcel Ph. Mayer, Barbara Odenthal, Christopher M. Schlick, Werner Herfs
2012 Journal of Robotics  
A concept that allows the cognitive automation of robotic assembly processes is introduced. An assembly cell comprised of two robots was designed to verify the concept. For the purpose of validation a customer-defined part group consisting of Hubelino bricks is assembled. One of the key aspects for this process is the verification of the assembly group. Hence a software component was designed that utilizes the Microsoft Kinect to perceive both depth and color data in the assembly area. This
more » ... mbly area. This information is used to determine the current state of the assembly group and is compared to a CAD model for validation purposes. In order to efficiently resolve erroneous situations, the results are interactively accessible to a human expert. The implications for an industrial application are demonstrated by transferring the developed concepts to an assembly scenario for switch-cabinet systems.
doi:10.1155/2012/375642 fatcat:nx56ffnwtnadnboku4waey7dj4