A framework for CAD-based offline depth-map preparation for automated assembly tasks

This paper presents an intuitive offline depth-map generation tool that can be applied for any generic assembly task using industrial robots. Such depth-maps are commonly required to be generated for any new robotic assembly in hand. Once the assembly of the peg and hole is designed in the Computer Aided Design (CAD) platform, the software framework proposed in this paper is used to generate the depth-map automatically.