A Self Calibration System Using Block Interpolation in the Industrial Assembly Line

This paper proposes a 3-D position compensation method of robot working points that are used in industrial vehicle assembly lines for an equipment glass. The proposed method uses a laser sensor and a vision camera. Because the laser sensor is a cross type sensor which can scan a horizontal and vertical line, it is an efficient way to detect a feature of vehicle and winding shape of vehicle body. For position compensation of 3-Dimensional axes, we applied block interpolation method using pattern matching method and cross point of laser slit in input image. A 3-D position is selected by Euclidean distance mapping between 315 feature values and evaluated feature points. Because these points are in the robot process program, the processing time is more quickly than that of the computer program. In order to evaluate the proposed algorithm, experiments are performed glass equipment system in real industrial vehicle assembly line. As the result of the field test, it shows that working point of robot can be displayed 3-D points.