Assembly Status Detection Based on Step-by-step Strategy for Robotic Assembly

Assembly status detection is of great significance in the automated assembly of industrial robots. However, in addition to the traditional manual inspection, the existing methods for assembly status detection are mainly through methods such as torque sensors, etc., which are difficult to implement in practical assembly and lack the detection of the entire assembly cycle. To solve this problem, this paper proposes a method for assembly statute detection based on a step-by-step strategy. The first step is to use fast bounding box collision detection to determine whether the robot enters the correct assembly neighborhood. The second step is to use accurate pose information to determine whether the product is assembled correctly. The experiments show that the proposed method can accurately detect the assembly status for the entire assembly cycle with high assembly efficiency.