Vision guided robots for automated assembly

A vision guided robot system consisting of a stereo-pair of CCD array cameras mounted on the end-effector of a six-axis revolute robot arm is presented. The accuracy of the vision system, the robot, and the manufacturing requirements is considered from a systems point of view. The development of automated calibration methodologies for local and global work volumes of the robot/vision system is discussed. The accuracy of local calibration which is on the order of 1.5 mm is sufficient for many automotive assembly applications. The assembly strategy is described, and multiple-component assembly and robotic fastening with the vision guided robot is reported.<>