Automatic Robot Assembly with Eye-in-Hand Stereo Vision

This paper presents an automatic assembly system with eye-in-hand stereo vision. Stereo vision is employed to assist a robotic manipulator to perform assembly tasks for 3C products. Particularly, a typical assembly task will be autonomously accomplished for a cellular phone shell. Based on the reconstructed positions and orientations of the cellular phone and its back shell, a set-point control law is employed to drive the manipulator rapidly on top of the cellular phone and its back shell. With the system and the control law we proposed, the robotic manipulator can be driven to hold the back shell by a vacuum absorption device and position it precisely onto the cellular phone to accomplish the automatic assembly task.