The thesis addresses a robotic system for pick-and-place operation and handling of colored blocks from a storage container to a designated location and vice versa. The first part of the thesis covers the theoretical fundamentals of robotics and machine vision. Various types of robots and robotic grippers are presented. Subsequently, the basics of machine vision, image processing, and analysis are introduced. The methodology describes all components of the considered system and outlines the conceptual design of the pick-and-place operations. In the experimental section, the repeatability and precision of the robotic system operations are analyzed and assessed. A portion of the results also includes the source code for all robotic operations. The programs are divided into segments for the pick-and-place and handling robotic operations, as well as the machine vison operations - namely, image capturing, processing, and analysis. As we did not conduct tests for all pick-and-place locations within the warehouse and the depositing area, a method for calculating the missing locations is used. This approach allows us to determine the coordinate system locations of individual subsystems and all the locations within these subsystems. With the acquired data, we can readily evaluate the time requirements for all robotic operations in advance and generate new sets of program codes.
|
