Construction of vision-based manipulation system for 3D industrial objects

Many applications call for robots to perform the tasks that the robot can accurately grasp and assemble many kinds of industrial parts. Using robots to perform these tasks can afford human safety as well as the high productivity. In this paper, an industrial robot system aiming to assemble the industrial parts with high precision is presented. The paper focuses on the design of the robot control system and the precise extraction of the position-and-orientation of the industrial parts. Finally, experiments are presented to show the efficiency of the system, in which sets of automotive parts, such as axletrees, bearings, pistons and pins are grasped from the conveyor and assembled together precisely.