| This thesis presents a solution to the problem of part localization in fixtureless assembly. Fixtureless assembly is a new technology in which complex and expensive dedicated fixtures are replaced by robots. However, the elimination of the fixtures implies that the robots must now be able to achieve the same locational accuracy of parts as precision fixtures provide. The implementation of an Automatic Part Localization System (APLS) allows the robots to determine the accurate position and orientation of the parts that are placed in arbitrary locations. In this thesis, the problem of part localization is studied in the context of an application to automotive sheet metal part assembly, specifically car body fenders. The development of the APLS is summarized. (Abstract shortened by UMI.)... |
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