Vision-guided alignment system and method

摘要

A vision-guided alignment system to align a plurality of components includes a robotic gripper configured to move one component relative to another component and a camera coupled to a processor that generates an image of the components. A simulated robotic work cell generated by the processor calculates initial calibration positions that define the movement of the robotic gripper such that position errors between the actual position of the robotic gripper and the calibration positions are compensated by a camera space manipulation based control algorithm executed by the processor to control the robotic gripper to move one component into alignment with another component based on the image of the components.

主权项

1. A vision-guided alignment system to align a plurality of components comprising:
a robotic gripper configured to move one component relative to another component; a camera coupled to a processor, said camera generating an image of the components; and a computer aided design (CAD) model of the components stored on a non-transitory computer readable medium readable by the processor; wherein a computer-simulated robotic work cell representing a real or potential robotic work cell is generated by said processor using said CAD model, said computer-simulated robotic work cell calculates initial calibration positions that define the movement of said robotic gripper, such that position errors between the actual position of the robotic gripper and said calibration positions are compensated by a camera space manipulation based control algorithm executed by said processor, to control said robotic gripper to move one component into alignment with another component based on said image of the components.