A concept that allows the cognitive automation of robotic assembly processes is introduced. An assembly cell comprised of two\r\nrobots was designed to verify the concept. For the purpose of validation a customer-defined part group consisting of Hubelino\r\nbricks is assembled. One of the key aspects for this process is the verification of the assembly group. Hence a software component\r\nwas designed that utilizes the Microsoft Kinect to perceive both depth and color data in the assembly area. This information is\r\nused to determine the current state of the assembly group and is compared to a CAD model for validation purposes. In order to\r\nefficiently resolve erroneous situations, the results are interactively accessible to a human expert. The implications for an industrial\r\napplication are demonstrated by transferring the developed concepts to an assembly scenario for switch-cabinet systems.
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