Systems and methods for high accuracy fixtureless assembly

A system for robotic assembly, comprising:

• a first robot;
• a second robot;
• and
• a control unit configured to:
• receive a first target location indicating where the first robot is to position a first feature of a first subcomponent, the first target location proximal to a second target location indicating where the second robot is to position a second feature of a second subcomponent such that the first subcomponent and the second subcomponent form a component when coupled together with the first feature of the first subcomponent in the first location and the second feature of the second subcomponent in the second location;
• calculate a first calculated location of the first feature of the first subcomponent;
• measure a first measured location of the first feature of the first subcomponent;
• determine a first transformation matrix between the first calculated location and the first measured location;
• and
• reposition the first feature of the first subcomponent to the first target location using the first robot, the repositioning based on the first transformation matrix.

A robotic assembly control unit, comprising:

• at least one processor;
• and
• a memory coupled to the at least one processor, the memory including instructions configuring the control unit to:
• receive a first target location indicating where a first robot is to position a first feature of a first subcomponent, the first target location proximal to a second target location indicating where a second robot is to position a second feature of a second subcomponent such that the first subcomponent and the second subcomponent form a component when coupled together with the first feature of the first subcomponent in the first location and the second feature of the second subcomponent in the second location;
• calculate a first calculated location of the first feature of the first subcomponent;
• measure a first measured location of the first feature of the first subcomponent;
• determine a first transformation matrix between the first calculated location and the first measured location;
• and
• reposition the first feature of the first subcomponent to the first target location using the first robot, the repositioning based on the first transformation matrix.

A computer-readable medium storing computer executable code for robotic assembly, the code, when executed by a processor, causing the processor to:

• receive a first target location indicating where a first robot is to position a first feature of a first subcomponent, the first target location proximal to a second target location indicating where a second robot is to position a second feature of a second subcomponent such that the first subcomponent and the second subcomponent form a component when coupled together with the first feature of the first subcomponent in the first location and the second feature of the second subcomponent in the second location;
• calculate a first calculated location of the first feature of the first subcomponent;
• measure a first measured location of the first feature of the first subcomponent;
• determine a first transformation matrix between the first calculated location and the first measured location;
• and
• reposition the first feature of the first subcomponent to the first target location using the first robot, the repositioning based on the first transformation matrix.