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

Leben, Janez (author), Vrabič, Rok (mentor), Bračun, Drago (comentor)

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.

• Language: Slovenian
• Keywords: roboti, operacija primi-položi, kamere, slikovni sistemi
• Work type: Bachelor thesis/paper
• Typology: 2.11 - Undergraduate Thesis
• Organization: FS - Faculty of Mechanical Engineering
• Place of publishing: Ljubljana
• Publisher: [J. Leben]
• Year: 2019
• Number of pages: XX, 50 str.
• PID: 20.500.12556/RUL-107671
• UDC: 007.52:681.5(043.2)
• COBISS.SI-ID: 16624411
• Publication date in RUL: 11.05.2019

LEBEN, Janez, 2019, Operacija primi-položi z robotom Fanuc LR Mate 200iD in kamero [online]. Bachelor’s thesis. Ljubljana : J. Leben. [Accessed 22 March 2025]. Retrieved from: https://repozitorij.uni-lj.si/IzpisGradiva.php?lang=eng&id=107671

Secondary language

• Language: English
• Title: Pick-and-place with robot Fanuc LR Mate 200iD/4S and a camera

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.

• Keywords: robots, pick-and-place, cameras, vision systems