Single camera-based synchronisation within a concept of robotic assembly in motion

Purpose – Automated robotic assembly on a moving workpiece, referred to as assembly in motion, demands that an assembly robot is synchronised in all degrees of freedom to the moving workpiece, on which assembly parts are installed. Currently, this requirement cannot be met due to the lack of robust estimation of 3D positions and the trajectory of the moving workpiece. The purpose of this paper is to develop a camera system that measures the 3D trajectory of the moving workpiece for robotic assembly in motion. Design/methodology/approach – For the trajectory estimation, an assembly robot-guided, monocular camera system is developed. The motion trajectory of a workpiece is estimated, as the trajectory is considered as a linear combination of trajectory bases, such as discrete cosine transform bases. Findings – The developed camera system for trajectory estimation is tested within the robotic assembly of a cylinder block in motion. The experimental results show that the proposed method is able to reconstruct...

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