Precision Robotic Assembly of Industrial Components with Robust Pose Estimation and Cooperative Manipulation

Kun Qian, Yue Zhang, Zhenghong Li, Patricia A. Vargas, Mustafa Suphi Erden, Xianwen Kong

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The manual assembly of objects characterized by intricate geometry and materials, such as concentrator photovoltaics solar panel units, often results in suboptimal accuracy, efficiency, and throughput. This paper responds to a genuine industrial imperative by proposing the development of a robotic system for the automated assembly of precision industrial components. To realize this goal, a dual robotic system is employed as the manipulation subsystem, complemented by the camera serving as computer vision (CV) subsystem. To address the crucial need for precise object 3D localization during assembly, an enhanced pose estimation algorithm grounded in convolutional neural networks (CNN) is proposed. By incorporating shallow information into the feature fusion network, precise object pose estimation is guaranteed. In instances of inevitable
occlusion, a process planning scheme is founded on cooperative manipulation, leveraging the unique characteristics of different robots for pose refinement and flexible operation. Taking the solar-cell of the concentrator as an example object, customized datasets are established and experiments are conducted within a predefined workspace. The calibration accuracy, offline and online performance of the proposed pose estimation algorithm and practical robotic gripping capability are evaluated. Results underscore the effectiveness of the developed robotic system and its potential for industrial precision assembly.
Original languageEnglish
Title of host publication25th IEEE International Conference on Industrial Technology (ICIT 2024)
PublisherIEEE
Publication statusAccepted/In press - 10 Feb 2024
Event25th IEEE International Conference on Industrial Technology 2024 - DoubleTree by Hilton Bristol City Centre, Bristol, United Kingdom
Duration: 25 Mar 202427 Mar 2024
https://icit2024.ieee-ies.org/

Conference

Conference25th IEEE International Conference on Industrial Technology 2024
Abbreviated titleICIT 2024
Country/TerritoryUnited Kingdom
CityBristol
Period25/03/2427/03/24
Internet address

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