Operacija primi-položi z robotom Fanuc LR Mate 200iD in kamero

diplomsko delo Visokošolskega strokovnega študijskega programa I. stopnje Strojništvo

Janez Leben (Author), Rok Vrabič (Mentor), Drago Bračun (Co-mentor)

Abstract

Zelo pogosta naloga industrijskega robota je operacija primi-položi, pri kateri pobere objekt na enem mestu in ga spusti na drugem. Orientacijo objekta je mogoče določiti z uporabo kamere. Pri tem je potrebno zagotoviti ustrezno osvetlitev, umeritev slikovnega sistema in transformacijo med koordinatnima sistemoma slike in robota. Nato sledi določanje ustrezne poti vrha robota do objekta. V diplomski nalogi je obravnavan problem, pri katerem je robot premikal objekte, ki jih je zaznala kamera. Vrh robota se je premikal po sprogramirani poti in polagal objekte na končne pozicije.

Keywords

diplomske naloge;roboti;operacija primi-položi;kamere;slikovni sistemi;

Data

Language:	Slovenian
Year of publishing:	2019
Typology:	2.11 - Undergraduate Thesis
Organization:	UL FS - Faculty of Mechanical Engineering
Publisher:	[J. Leben]
UDC:	007.52:681.5(043.2)
COBISS:	16624411
Views:	612
Downloads:	234
Average score:	0 (0 votes)
Metadata:

Other data

Secondary language:	English
Secondary title:	Pick-and-place with robot Fanuc LR Mate 200iD/4S and a camera
Secondary abstract:	A very common task of an industrial robot is pick-and-place where the robot picks up an object at one place and puts it down in a different place. The orientation of the object can be determined with a camera, however, a suitable lighting, a camera calibration and a transformation between the world frame and the camera frame must be provided. Then, it is necessary to specify an appropriate movement of an end-effector to the position of the object. This thesis addresses the problem of the robot moving the objects that were located with the camera. The end-effector moved according to the programmed path and placed the objects in the final positions.
Secondary keywords:	thesis;robots;pick-and-place;cameras;vision systems;
Type (COBISS):	Bachelor thesis/paper
Study programme:	0
Embargo end date (OpenAIRE):	1970-01-01
Thesis comment:	Univ. v Ljubljani, Fak. za strojništvo
Pages:	XX, 50 str.
ID:	11135647