Integration of the Machine Vision and the Robotic Manipulators for the Industrial Application
| Autor: | Cheng-Wei Tsai Lin, 蔡林承緯 |
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| Rok vydání: | 2017 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 105 Customized manufacturing is increasing years by years, how the manufactory imports the automatic equipment to the production line is the important topic. The measurement time and the error of inspection is decreased when the machine vision replace the human source. Besides, the study completed the system of automatic loading and unloading for automatic production by manipulator and machine vision. First, the study derived and proved the Kinematics of manipulator, but the study used the commercially available manipulator to experiment. The study of vision inspection is divided into the target of static seek and the dynamic target tracking object to experiment. For the target of static seek, the picture of machine vision to image of processing, and corrected the coordinate of machine vision and manipulator to the same origin by the material’s position from the picture of the machine vision. After the coordinate synchronizing, the machine vision and manipulator completed the function the material of gripping by serial transmission. The experimental of dynamic target tracking use the concept of the target of static seek to complete the coordinate synchronize between the manipulator and the machine vision. Then, the velocity of the conveyor will be determined by time interlude and moving distance from machine vision in the program by using Labview software. At the same time, the program used the velocity of the conveyor and the position of material from machine vision to predict the position of target. The manipulator is loading and unloading the material when the program is issue the command. Finally, the study completed the function of automatic loading and unloading by serial transmission and I/O signal for the equipment. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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