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Vision-force guided precise robotic assembly for 2.5D components in a semistructured environment

Boyoung Kim (Global Technology Center (GTC), Samsung Electronics, Suwon-si, Republic Of Korea)
Minyong Choi (Global Technology Center (GTC), Samsung Electronics, Suwon-si, Republic Of Korea)
Seung-Woo Son (Global Technology Center (GTC), Samsung Electronics, Suwon-si, Republic Of Korea)
Deokwon Yun (Global Technology Center (GTC), Samsung Electronics, Suwon-si, Republic Of Korea)
Sukjune Yoon (Global Technology Center (GTC), Samsung Electronics, Suwon-si, Republic Of Korea)

Assembly Automation

ISSN: 0144-5154

Article publication date: 8 April 2021

Issue publication date: 27 July 2021

149

Abstract

Purpose

Many manufacturing sites require precision assembly. Particularly, similar to cell phones, assembly at the sub-mm scale is not easy, even for humans. In addition, the system should assemble each part with adequate force and avoid breaking the circuits with excessive force. The purpose of this study is to assemble high precision components with relatively reasonable vision devices compared to previous studies.

Design/methodology/approach

This paper presents a vision-force guided precise assembly system using a force sensor and two charge coupled device (CCD) cameras without an expensive 3-dimensional (3D) sensor or computer-aided design model. The system accurately estimates 6 degrees-of-freedom (DOF) poses from a 2D image in real time and assembles parts with the proper force.

Findings

In this experiment, three connectors are assembled on a printed circuit board. This system obtains high accuracy under 1 mm and 1 degree error, which shows that this system is effective.

Originality/value

This is a new method for sub-mm assembly using only two CCD cameras and one force sensor.

Keywords

Citation

Kim, B., Choi, M., Son, S.-W., Yun, D. and Yoon, S. (2021), "Vision-force guided precise robotic assembly for 2.5D components in a semistructured environment", Assembly Automation, Vol. 41 No. 2, pp. 200-207. https://doi.org/10.1108/AA-03-2020-0039

Publisher

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Emerald Publishing Limited

Copyright © 2021, Emerald Publishing Limited

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