Robotic automatic assembly system for random operating condition

A vision guided tabletop robotic assembly system is constructed for the random environment automatic assembly purpose. The distributed control structure is designed for this assembly system. A PC is specified as the central control unit for machine vision operation and the harmonization of At89c51 distributed control unit for each axis. The machine vision is introduced to search the locations and measure the size of the assembly parts in the robotic workspace. Then, the central controller commands the robot to pick the part sequentially based on the specified program to complete the automatic assembly process. The model-free fuzzy sliding mode control scheme is embedded in each joint micro controller for simplifying the model based control problem. The central control unit PC communicates with each joint controller by network communication. This assembly system is implemented on a 3 DOF SCARA robot. The experimental results show that the robotic motion control performance is good enough for assembling work; the vision pattern classification and assembly motion paths planning and monitoring are exactly executed by the central control unit. The goal of this robotic random assembly operation is achieved with the appropriate integration of robotic motion control, machine vision, sensor and assembly force detecting techniques.