Model-based workpiece positioning for robotic fixtureless assembly using parallel monocular vision system

Abstract

This paper proposed to use parallel monocular vision system that could fit different robotic grasping pattern, in order to reduce the computation burden for real-time grasping control. A novel model-based workpiece positioning approach, which can solve both 3D or 2D pose estimation problem, is proposed by using the imagery template and homography matrix. The demand of workpiece template is not 3D model, but the workpiece template image, which is much easier to obtain. Moreover, as the positioning expressions based on homography matrix between the workpiece template and images, and the two camera images, are expressed as a simple formula, the proposed approach is intuitive for algorithm development. © 2013 Springer-Verlag.