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Within assembly lines, wheel assembly to continuously conveyed car bodies is still executed by human workers using a device that compensates the weight of the wheel. This paper presents a solution in which a robot autonomously assembles and fixes the wheels. The approach uses a sensor-driven control strategy that compensates a possible temporal or spatial offset. Three types of sensors are proposed...
Apertures play a critical role as the marks for workpiece positioning on assembly lines. The detection and alignment of an aperture on workpiece surface is a typical manipulation task for assembling robots. In this paper, a vision sensor based on laser structured light is presented to detect an aperture and align it to a robotic end-effector with an eye-in-hand vision system. The images with laser...
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