Razpoznavanje in sortiranje objektov s pomočjo robota Yumi in integrirane kamere

PAVC, KRISTIJAN (author), Mihelj, Matjaž (mentor)

Sodelovanje robot - človek v različnih industrijskih procesih se je v zadnjem obdobju zelo razširilo, saj si vsako podjetje prizadeva, da bi izdelalo čim več produktov s čim manjšimi stroški ter da na račun tega ne bi trpela kakovost. Prav zaradi navedenega se za vse več del v procesih uporablja raznolike robote. Ker pa so to še vedno samo stroji, ki nimajo samozavedanja, je v ozadju še vedno prisoten človek, ki skrbi za njihovo učenje in kasnejše delovanje. Tako je bil namen te diplomske naloge izdelati program za robota, ki demonstrira postopek razpoznavanja, spihovanja in sortiranja različnih objektov, narejenih na CNC-stružnici, ter bi bil v prihodnosti sposoben nadomestiti človeka na poziciji izvajanja prej omenjenega postopka. Za izdelavo aplikacije je bil izbran dvoročni robot YuMi proizvajalca ABB, le-tega pa bi kasneje lahko nadomestili tudi s kakšnim drugim manipulatorjem. Na začetku diplomskega dela bralca najprej seznanimo z roboti in njihovo vlogo v industriji ter o pomenu in uporabnosti robotskega vida. V nadaljevanju predstavimo glavne sestavne elemente naše aplikacije: okolje za programiranje (RobotStudio), kamera (Cognex) in robot YuMi ter povzamemo potek izdelovanja same aplikacije. Za konec pa posebno poglavje namenimo tudi zamisli o tem, kakšna bi morala biti končna robotska celica z vsemi komponentami (senzorji, tekoči trak itd.), da bi jo lahko vključili v industrijski proces. Podamo še približno stroškovno oceno ter strnemo zaključne ugotovitve, ki se nanašajo na zanesljivost in uporabnost ter možne izboljšave same aplikacije.

• Language: Slovenian
• Keywords: roboti v industriji, robotski vid, programiranje, robotska celica
• Work type: Bachelor thesis/paper
• Organization: FE - Faculty of Electrical Engineering
• Year: 2016
• PID: 20.500.12556/RUL-84848
• Publication date in RUL: 06.09.2016

Secondary language

• Language: English
• Title: Recognition and sorting of objects with Yumi robot and integrated camera

Abstract

Participation of robots in industry in recent years has extended because each entity seeks to produced as much as possible for the lowest possible cost, and that on account of this quality would not suffer. Also, because of the aforementioned things the robots are key factors in front rows of production lines. But since robots are still only a combination of hardware and software, and do not possess self-awareness human is always present in the back. Human factor is resposible for their teaching and subsequent performance. Thus, the purpose of this thesis was to create a program for the robot, which could in the future replace human in the actual process of sorting and air flushing different pieces made by CNC lathe. For this application dual-armed YuMi robot of ABB company was selected. At the beginning of thesis the reader will first get acquainted with the robots and their role in the industry itself, and also the importance and usefulness of robot vision. Later we briefly introduce the key parts of our application which are development environment for programming (RobotStudio), camera (Cognex) and robot YUMI and we summarize how the application was made. At the end a whole chapter is dedicated to how the robotic cell would look like with all components (sensors, conveyor belt, etc.) and a brief cost estimation is made. Also the summarization is done which is based on the reliability, usability, and possible improvements to the application itself.

• Keywords: robots in industry, robot vision, programming, robotic cell