This paper proposes a robot assembly planning method by automatically reading the graphical instruction manuals design for humans. Essentially, the method generates an Assembly Task Sequence Graph (ATSG) by recognizing a graphical instruction manual. An ATSG is a graph describing the assembly task procedure by detecting types of parts included in the instruction images, completing the missing information automatically, and correcting the detection errors automatically. To build an ATSG, the proposed method first extracts the information of the parts contained in each image of the graphical instruction manual. Then, by using the extracted part information, it estimates the proper work motions and tools for the assembly task. After that, the method builds an ATSG by considering the relationship between the previous and following images, which makes it possible to estimate the undetected parts caused by occlusion using the information of the entire image series. Finally, by collating the total number of each part with the generated ATSG, the excess or deficiency of parts are investigated, and task procedures are removed or added according to those parts. In the experiment section, we build an ATSG using the proposed method to a graphical instruction manual for a chair and demonstrate the action sequences found in the ATSG can be performed by a dual-arm robot execution. The results show the proposed method is effective and simplifies robot teaching in automatic assembly.
翻译:本文建议采用机器人组装规划方法, 自动阅读人类的图形指导手册设计。 基本上, 该方法通过识别图形指导手册, 生成一个组装任务序列图( ATSG ) 。 一个 ASTG 是一个图表, 用来描述组装任务程序, 通过检测指示图像中包含的部件类型, 自动填写缺失的信息, 并自动纠正检测错误。 为了构建一个 ATSG, 拟议的方法首先提取图形指导手册中每个图像中所含部件的信息。 然后, 通过使用提取的部分信息, 估计组装任务的适当工作动作和工具。 在此之后, 该方法通过考虑上一个和后面的图像之间的关系来构建一个 ASTG, 从而能够利用整个图像系列的信息来估计封闭导致的未检测部件类型, 自动完成任务任务程序。 最后, 通过对生成的ASTG 的每个部分的总数进行校验, 部分的过剩或不足, 任务程序按照这些部分被删除或添加。 在实验部分, 我们用一个拟议的方法构建一个ASTG, 来构建一个用于椅子的图形指导手册, 并展示在机器人组中实施的动作序列, 。 在机器人组装中, 所执行的双向机器人组装的动作中, 。