A vision-based robotic assembly system

In this paper, design and development experiences of a vision based robotic assembly system for electronic components are described. Specifically, the overall system consists of the following three subsystems each of which employs a 16 bit Preprocessor MC 68000 : supervisory controller, real-time vision system, and servo system. The three microprocessors are interconnected using the time shared common memory bus structure with hardwired bus arbitration scheme and operated as a master-slave type in which each slave is functionally fixed in view of software. With this system architecture, the followings are developed and implemented in this research; (i) the system programming language, called 'CLRC', for man-machine interface including the robot motion and vision primitives, (ii) real-time vision system using hardwired chain coder, (iii) the high-precision servo techniques for high speed de motors and high speed stepping motors. The proposed control system were implemented and tested in real-time successfully.