An image processing algorithm for the automatic manipulation of tie rod

In this paper, we present a robust image processing algorithm for the automatic manipulation of tie rod in the automotive assembly process. A sensing system consisting of a camera and a slit laser is used to obtain 3D data for processing. It is attached to the robot’s arm. A nut runner is used as an end-effector of the robot to manipulate the bolt and nut on the tie rod. For the successful operation, a robust image processing algorithm that can cope with diverse illumination variations in manufacturing conditions is required. We present a robust algorithm for the extraction of laser contours on images. It consists of two steps where color and grey information is used to cope with clutters caused by laser reflections on metal surfaces. Experimental results using many images under real conditions show the robustness of the proposed algorithm.