Multi-Robot Cross-Station 3D Perception System for Automatic Assembly

This paper presents a robot automatic perception and assembly method for the situation that the measurement and assembly processes are not conducted at the same workstation. This method allows the assembly unit and the subassembly unit can be measured at different workstation. The key point can be transformed between different station with reflective markers and unified to the coordinate system of the assembly robot. The assembly process can be performed at any workstation. The method has been testified both in simulated experiments and in the real industrial field.