A versatile system for computer-controlled assembly

摘要

A versatile assembly system, using TV cameras and computer-controlled arm and moving table, is described. It makes simple assemblies such as a peg and rings and a toy car. It separates parts from a heap, recognizing them with an overhead camera, then assembles them by feel. It can be instructed to perform a new task with different parts by spending an hour or two showing it the parts and a day programming the assembly manipulations. A hierarchical description of parts, views, outlines, etc. is used to construct models, and a structure matching algorithm is used in recognition.