Integracija laserskega merilnika in industrijskega robota za zajem 3D slike obdelovanca in hitro generiranje poti orodja

Vesel, Rok (author), Bračun, Drago (mentor)

V diplomskem delu je predstavljena integracija laserskega merilnika in industrijskega robota za zajem 3D slike obdelovanca in generiranja poti orodja, ki omogoča nadaljnjo robotsko obdelavo. V našem primeru smo uporabili laserski profilomer, ki smo ga integrirali z industrijskim robotom. Komunikacije med merilnikom in robotom smo izvedli z uporabo socket mrežne komunikacije in nato zajete podatke umerili ter z globalno transformacijo pretvorili tako, da smo dobili točke v robotovem koordinatnem sistemu. Za nadaljnjo robotsko obdelavo smo robotski roki pot, generirano na zajetem oblaku 3D točk, poslali preko mrežne komunikacije FTP.

• Language: Slovenian
• Keywords: robotska obdelava, laserski profilomer, 3D oblek točk, mrežne komunikacije, krmiljenje robota
• Work type: Bachelor thesis/paper
• Typology: 2.11 - Undergraduate Thesis
• Organization: FS - Faculty of Mechanical Engineering
• Place of publishing: Ljubljana
• Publisher: [R. Vesel]
• Year: 2022
• Number of pages: XXII, 56 str.
• PID: 20.500.12556/RUL-139069
• UDC: 007.52:621.865.8:621.9(043.2)
• COBISS.SI-ID: 120680195
• Publication date in RUL: 30.08.2022

VESEL, Rok, 2022, Integracija laserskega merilnika in industrijskega robota za zajem 3D slike obdelovanca in hitro generiranje poti orodja [online]. Bachelor’s thesis. Ljubljana : R. Vesel. [Accessed 8 April 2025]. Retrieved from: https://repozitorij.uni-lj.si/IzpisGradiva.php?lang=eng&id=139069

Secondary language

• Language: English
• Title: Integration of laser meter and industrial robot to capture 3D image of the workpiece and fast generation of tool paths

Abstract

The thesis presents the integration of a laser meter and an industrial robot for capturing a 3D image of the workpiece and generating a tool path that enables further robotic processing. In our case, we used a laser profilometer, which had been integrated with an industrial robot. The communication between the meter and the robot was carried out using socket network communication, and then the captured data were calibrated and transformed with a global transformation to obtain points in the robot's coordinate system. For further robotic processing, the path generated on the captured 3D point cloud was sent to the robotic arm via FTP network communication.

• Keywords: robotic procesing, laser profilemeter, 3D point cloud, network communications, robot control