The design of a high-precision robot assembly system is a great challenge. In this article, a robotic assembly system is developed to assemble two components with six degree-of-freedoms in three-dimensional space. It consists of two manipulators, a structured light camera which is mounted on the end-effector aside component A to measure the pose of component B. Firstly, the features of irregular components are extracted based on U-NET network training with few labeled images. Secondly, an algorithm is proposed to calculate the pose of component B based on the image features and the corresponding three-dimensional coordinates on its ellipse surface. Thirdly, the six errors including two position errors and one orientation error in image space, and one position error and two orientation errors in Cartesian space are computed to control the motions of component A to align with component B. The hybrid visual servoing method is used in the control system. The experimental results verify the effectiveness of the designed system.

高精度机器人装配系统的设计是一个巨大的挑战。在本文中，开发了一个机器人装配系统，用于在 3 维空间中装配两个具有六个自由度的组件。它由两个机械臂组成，一个结构光相机安装在末端执行器旁边的组件 A 上，用于测量组件 B 的姿态。首先，基于 U-NET 网络训练提取不规则组件的特征，标记图像很少。其次，提出了一种基于图像特征及其椭圆面上对应的三维坐标计算组件B位姿的算法。第三，图像空间中的六个误差包括两个位置误差和一个方向误差，并计算笛卡尔空间中的一个位置误差和两个方向误差来控制组件A与组件B的运动。控制系统采用混合视觉伺服方法。实验结果验证了所设计系统的有效性。