Robust assembly of complex shaped planar parts using vision and force
The work addresses the fusion of vision and forcetorque information for robotic assembly tasks. The torquecontrolled DLR light-weight robot is used, which is speciallydesigned for fast and safe interaction with a changing environment. The image processing is based on standard hardware components and uses color segmentation and affine invariantfeature classification. It provides a position estimation within the region of attraction (ROA) of a compliance based assembly strategy. The assembly planning toolbox is based on a theoretical analysis and the maximization of the ROA. This guarantees the local convergence of the assembly process under consideration of the part geometry. The convergence analysis uses the passivity properties of the robot and the environment. The method is validated through extensive experiments.