Augmented Reality in Peg-in-Hole Microassembly Operations

抄録

Augmented-reality (AR) technology was implemented for vision-based microassembly operations. A computer aided design (CAD) model for a virtual microassembly system was generated and calibrated using data from a real system to simulate the same image features in a virtual environment. By employing static AR, a hidden feature of a mating hole in a rod was reconstructed in an image. In real-time operation, a dynamic AR system was implemented to handle the issue of difference in velocities of a moving object between the virtual environment and real system. By utilizing the image from the AR system, the performance in manual and automatic assembly was experimentally tested. The assembly time and failure rate in automation were compared with those obtained in a visual servo without utilizing AR. The advantages of employing AR for the peg-in-hole microassembly were identified.