ASSEMBLY ERROR CORRECTION
In the present disclosure, methods, systems, and apparatuses for in-process assembly error correction are described. In various embodiments, a target arrangement of parts of an assembly may be obtained, with the target arrangement including a first target position of a first part, a second target position of a second part, and a third target position of a third part. The first part and the second part may be robotically joined based on the first target position and the second target position to obtain a first subassembly of the assembly, with the first subassembly having a first physical arrangement that includes the physical arrangement of the first and second parts after joining. The first physical arrangement may be fitted to the target arrangement to obtain a fitted first physical arrangement. The first subassembly and the third part may be robotically joined based on the fitted first physical arrangement.
1 . A method of robotic assembly of parts, the method comprising:
obtaining a target arrangement of the parts of the assembly, wherein the target arrangement includes a first target position of a first part, a second target position of a second part, and a third target position of a third part;
robotically joining the first part and the second part based on the first target position and the second target position in the target arrangement to obtain a first subassembly of the assembly, the first subassembly having a first physical arrangement, wherein the first physical arrangement includes the physical arrangement of the first and second parts after joining;
fitting the first physical arrangement to the target arrangement to obtain a fitted first physical arrangement; and
robotically joining the first subassembly and the third part, wherein the first subassembly is arranged in the fitted first physical arrangement, and the third part is arranged in the third target position in the target arrangement.
2 . The method of claim 1 , wherein the target arrangement further includes a fourth target position of a fourth part, and robotically joining the first subassembly and the third part obtains a second subassembly of the assembly, the second subassembly having a second physical arrangement, wherein the second physical arrangement includes the physical arrangement of the first, second, and third parts after joining, the method further comprising:
fitting the second physical arrangement to the target arrangement to obtain a fitted second physical arrangement; and
robotically joining the second subassembly and the fourth part, wherein the second subassembly is arranged in the fitted second physical arrangement, and the fourth part is arranged in the fourth target position in the target arrangement.
3 . The method of claim 1 , wherein fitting the first physical arrangement to the target arrangement includes performing a best-fit correction.
4 . The method of claim 3 , wherein performing the best-fit correction includes determining a difference in position between each of a plurality of corresponding pairs of same features of the first physical arrangement and the target arrangement, and minimizing an error based on the differences in position.
5 . The method of claim 4 , wherein minimizing the error includes minimizing a sum of the squares of the differences of position.
6 . The method of claim 1 , wherein fitting the first physical arrangement to the target arrangement includes
determining a difference between a first join position of the first part and a first target join position of the first part, and
determining a second target join position at which to join the third part with the first part based on the difference.
7 . The method of claim 1 , further comprising:
determining a set of parts associated with the assembly, wherein the set of parts includes the first part, the second part, and the third part;
determining dimensional information of each of the first, second, and third parts, and
determining the target arrangement based on the dimensional information.
8 . The method of claim 1 , further comprising:
determining, prior to joining the first subassembly and the third part, an interference between the first subassembly and the third part; and
adjusting the fitted first physical arrangement if the interference exceeds a threshold.
9 . The method of claim 8 , wherein the interference includes a portion of the first subassembly contacting a portion of the third part.
10 . The method of claim 9 , wherein the interference is determined further based on a tolerance of a joint between the third part and the first part.
11 . The method of claim 1 , further comprising:
measuring a first part position of the first part and a second part position of the second part based on a set of key product characteristics associated with the first part and the second part,
wherein fitting the first physical arrangement to the target arrangement is based on the first part position and the second part position.
12 . The method of claim 11 , wherein the key product characteristics include at least one of a tolerance associated with a joint included in the assembly, a clearance associated with the assembly, or a surface profile associated with the assembly.
13 . A system configured for robotic assembly of parts, comprising:
a computing system configured to obtain a target arrangement of the parts of the assembly, wherein the target arrangement includes a first target position of a first part, a second target position of a second part, and a third target position of a third part; and
at least two robots configured to:
robotically join the first part and the second part based on the first target position and the second target position in the target arrangement to obtain a first subassembly of the assembly, the first subassembly having a first physical arrangement, wherein the first physical arrangement includes the physical arrangement of the first and second parts after joining, and
robotically join the first subassembly and the third part, wherein the first subassembly is arranged in a fitted first physical arrangement, and the third part is arranged in the third target position in the target arrangement, wherein
the computing system is further configured to fit the first physical arrangement to the target arrangement to obtain the fitted first physical arrangement.
14 . The system of claim 13 , wherein the target arrangement further includes a fourth target position of a fourth part, and the robotic join of the first subassembly and the third part obtains a second subassembly of the assembly, the second subassembly having a second physical arrangement, wherein the second physical arrangement includes the physical arrangement of the first, second, and third parts after joining, the computing system further configured to:
fit the second physical arrangement to the target arrangement to obtain a fitted second physical arrangement; and the at least two robots further configured to:
robotically join the second subassembly and the fourth part, wherein the second subassembly is arranged in the fitted second physical arrangement, and the fourth part is arranged in the fourth target position in the target arrangement.
15 . The system of claim 13 , wherein to fit the first physical arrangement to the target arrangement, the computing system is configured to perform a best-fit correction.
16 . The system of claim 15 , wherein to perform the best-fit correction, the computing system is configured to:
determine a difference in position between each of a plurality of corresponding pairs of same features of the first physical arrangement and the target arrangement, and
minimize an error based on the differences in position.
17 . The system of claim 16 , wherein to minimize the error, the computing system is configured to minimize a sum of the squares of the differences of position.
18 . The system of claim 13 , wherein to fit the first physical arrangement to the target arrangement, the computing system is configured to:
determine a difference between a first join position of the first part and a first target join position of the first part, and
determine a second target join position at which to join the third part with the first part based on the difference.
19 . The system of claim 13 , wherein the computing system is further configured to:
determine a set of parts associated with the assembly, wherein the set of parts includes the first part, the second part, and the third part;
determine dimensional information of each of the first, second, and third parts, and
determine the target arrangement based on the dimensional information.
20 . The system of claim 13 , wherein the computing system is further configured to:
determine, prior to joining the first subassembly and the third part, an interference between the first subassembly and the third part; and
adjust the fitted first physical arrangement if the interference exceeds a threshold.
21 . The system of claim 20 , wherein the interference includes a portion of the first subassembly contacting a portion of the third part.
22 . The system of claim 21 , wherein the interference is determined further based on a tolerance of a joint between the third part and the first part.
23 . The system of claim 13 , wherein the computing system is further configured to:
measure a first part position of the first part and a second part position of the second part based on a set of key product characteristics associated with the first part and the second part,
wherein the fit of the first physical arrangement to the target arrangement is based on the first part position and the second part position.
24 . The system of claim 23 , wherein the key product characteristics include at least one of a tolerance associated with a joint included in the assembly, a clearance associated with the assembly, or a surface profile associated with the assembly.