An Intelligent Assembly System Based on RISC Robotics

摘要

To overcome the drawbacks of the vision-guided assembly system, this paper presents an intelligent assembly system, which can achieve precision assembly by identifying and localization parts before grasping (that a 2D vision system can do, but more expensively), and positioning parts during grasping (that a conventional vision system cannot do so precisely) accordingto the RISC (Reliable, Immediate, Simple and Cheap) paradigm of robotics. This paper presents our progress in RISC robotics related to removing pose uncertainty of parts, which is the principal cause of mating failure.