Remote robotic assembly guided by 3D models linking to a real robot

This paper presents a 3D model-driven remote robotic assembly system. It constructs 3D models at runtime to represent unknown geometries at the robot side, where a sequence of images from a calibrated camera in different poses is used. Guided by the 3D models over the Internet, a remote operator can manipulate a real robot instantly for remote assembly operations. Experimental results show that the system is feasible to meet industrial assembly requirements with an acceptable level of modelling quality and relatively short processing time. The system also enables programming-free robotic assembly where the real robot follows the human's assembly operations instantly.