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Roboti z vizualnim sledenjem se uporabljajo za razvrščanje, pakiranje in montiranje. V diplomskem delu smo uporabljali 6-osnega paralelnega robota FANUC M-1iA. S kamero robot zazna objekt na transportnem traku, ki ga poganja enosmerni napajalnik. Poleg kamere se uporablja dajalnik, saj z njim določimo lokacijo objekta, ko je ta izven vidnega polja kamere. Ko robot dobi vse potrebne podatke o objektu, ga s prijemalom prime in odloži v predal. Najprej smo izvedli kalibracijo kamere, transportnega traka in dajalnika, nato pa smo z ročno programirno enoto sestavili program za manipuliranje objektov. Robotski program je bil izdelan v Fanuc-ovem robotskem jeziku TPP. V programskem jeziku KAREL je izdelan programski paket oz. knjižnica Visual Line Tracking, iz katere samo kličemo oz. uporabljamo podprograme v našem programu. Robots with visual tracking are used for sorting, packing and assembling. In our final work we used 6-axis parallel robot FANUC M-1iA. Camera is used to detect objects on the conveyor belt, which is powered by DC power supply. Besides the camera, we also used an encoder, which selects the location of the object, when it is outside the visual area of the camera. When the robot gets all the required information about the object, it holds the object with the holding tool and puts it in the box. First we calibrated the camera, the conveyor belt and the encoder and then we formed a program for manipulation of objects with a teach pendant. The robot program was made in Fanuc's robot programming language TPP. The Visal Line Tracking library, which is used for calling other subroutines in our program, is written in the programming language KAREL. |
