Extrinsic Manipulation with Visual Feedback for Robotic Assembly

抄録

In robotic assembly, it is still difficult to grasp and assemble objects at arbitrary poses, also the grasped object can encounter undesirable pose change during the assembly process. we propose an extrinsic manipulation system with visual feedback to tackle those difficulties. The visual feedback method uses Augmented Reality markers to monitor the object pose during the process. The extrinsic manipulation is used to obtain precise in-hand poses. The consecutive assembly motion sequences are automatically switched based on the visual feedback. The conducted experiments and the comparison with the available approaches are used to evaluate the proposed system.