Real time robotic assembling of moving pieces by visual sensor

This paper deals with a real time K2D visual sensor used to control by feedback, a robot which assembles a piece held by its gripper with another one moving in a plane. In a first stage, the visual sensor is modelled and a fast vision algorithm is designed as the means to get the position and the dimensions of a circular pattern in less than 40 ms. In a second stage, the integration of this sensor in a robot unit is investigated and a model is proposed for the asynchronous communication between these two subsystems. In a last step, a feedback structure is studied in order to close the loop in a satisfactory way, and an assembling manipulation is described and analysed