A novel omnidirectional image sensing system for assembling parts with arbitrary cross-sectional shapes

Author

Kim, Wan Soo ; Cho, Hyung Suck

Author_Institution

Dept. of Mech. Eng, Samsung Electron. Co. Ltd., KyungKi-Do, South Korea

Volume

3

Issue

4

fYear

1998

fDate

12/1/1998 12:00:00 AM

Firstpage

275

Lastpage

292

Abstract

In contrast with relatively simple cross-sectional shapes, it is difficult to discern misalignments in relative position and angular orientation between mating parts with complicated cross-sectional shapes. This motivates the development of a new sensing method for detecting misalignments. However, in the area of assembly, such a method has not been fully developed; for the most part, only local sensing techniques using proximity, tactile, force, and vision sensors have been developed. In this paper, a novel omnidirectional image sensing system for assembling parts with arbitrary cross-sectional shapes is proposed, and its features are investigated theoretically. Its feasibility for assembly is also shown by experiments. Utilizing a pair of conic mirrors and a camera, this system can immediately acquire a 2π coaxial image of the misalignment along the mating boundary interface between mating parts without experiencing self-occlusion

Keywords

assembling; computer vision; image sensors; mirrors; assembling; conic mirrors; cross-sectional shapes; mating boundary interface; misalignment detection; omnidirectional image sensing; part assembly; Assembly systems; Force sensors; Geometrical optics; Information geometry; Optical fiber sensors; Optical sensors; Robotic assembly; Shape; Tactile sensors; Uncertainty;

fLanguage

English

Journal_Title

Mechatronics, IEEE/ASME Transactions on

Publisher

ieee

ISSN

1083-4435

Type

jour

DOI

10.1109/3516.736162

Filename

736162