In production we often come across operations as positioning and sorting of assembly parts. Due to monotony, speed and need reliability of this processes the goal is to automate them. This can be achieved by using machine vision, an algorithm and a manipulator that moves the parts and components around.
This work's aim is to develop a system of algorithms (machine vision, control of a robotic arm and a decision algorithm) that can recognize certain shapes, and, depending on the position of preplaced shapes, decide the placement of the next one.
To test the developed algorithm, we made a testing rig, which consists of a fixated digital camera that captures the positions of parts, and a uArm robotic manipulator for manipulation of detected parts. The system is based on the game known as 'tic-tac-toe', which contains all the elements used in real-life applications of sorting using machine vision (identification and placement of parts, decision algorithm and physical manipulation of parts). The camera and machine vision algorithm were used to recognize objects and distinguish them according to their surface area. The uArm robotic arm was used to place the objects to spots assigned to them by the decision algorithm taking in account the rules of the game.
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