Workpiece Localization Algorithms: Performance Evaluation and Reliability Analysis

摘要

Workpiece localization plays an important role in automation of many manufacturing processes, such as workpiece setup, refixturing, dimensional inspection, and robotic assembly/manipulation. This paper provides unified treatment of three geometric algorithms for workpiece localization. Local convergence of these localization algorithms is shown, and new techniques are developed to make these local algorithms globally convergent. A method is presented for analyzing the reliability of localization solutions. Along with extensive simulation results, the performance of the algorithms is studied and analyzed in terms of accuracy, convergence, and computational efficiency. The Hong-Tan algorithm has better accuracy and computational efficiency than two other algorithms tested. Finally, the experimental implementation of the algorithms is performed, and the experimental results are presented to confirm the proposed global convergence method and the reliability analysis method.