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Operation of the Collaborative Composite Manufacturing CCM System

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Published on: October 1, 2019

Automatic assembly with dual robotic arms based on mutual visual tracking and positioning.

Bor-Jiunn Wen¹, Ti-Wen Liu¹

¹Department of Mechanical and Mechatronic Engineering, National Taiwan Ocean University, Keelung, Taiwan.

Science Progress

|May 10, 2023

Summary

This study demonstrates dual robotic arms using visual tracking for efficient screw and nut assembly. This technology enables precise robotic control in smart factory automation.

Keywords:

Dual robotic arm automatic assembly process fuzzy visual tracking control inverse kinematics mutual visual tracking and positioning technology

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Area of Science:

Robotics
Automation Engineering
Computer Vision

Background:

Automation is a growing trend, replacing human labor in manufacturing.
Efficient robotic systems are crucial for smart factory operations.

Purpose of the Study:

To develop and simulate an automatic screw and nut assembly process using a dual robotic arm system.
To implement mutual visual tracking and positioning for real-time robotic control.

Main Methods:

A dual robotic arm system was employed in a belt conveyor operation.
Inverse kinematics based on geometric methods controlled robotic arm movement.
Fuzzy visual tracking control was used for screw and nut manipulation.
A single-lens charge-coupled device enabled visual tracking and positioning.

Main Results:

The dual robotic arms successfully tracked and assembled screws and nuts.
Tracking and positioning errors were reduced to 8% during the grabbing phase.
The system demonstrated efficient assembly task completion.

Conclusions:

Mutual visual tracking and positioning technology enables efficient dual robotic arm assembly.
This technology has significant potential for future automated manufacturing processes.
Robotic automation enhances efficiency in smart factory environments.