Measurement of parts deformation and misalignment by using a visual sensing system

Flexible parts comparing with rigid parts can be deformed by contact force during assembly. For successfil assembly, information about their deformation as well as possible wisalignment between matingparts is essential. However, because of the nonlinear and complex relationship between parts deformation and reaction forces, it is dificult to acquire all required information from the reaction forces alone. In this paper, we propose an algorithm that can measure parts deformation and misalignment by using a visual sensing system in flexible parts assembly. Simulation results show that the system is eflective in measuring parts deformation and misalignment, thereby dramatically increasing the rate of success in assembly operations.