Dynamické odebírání jedoucího dílu z pásu pomocí robotu a kamerového systému

Abstract

This master's thesis addresses the issue of dynamic part picking from a conveyor belt. The first, theoretical part of the thesis provides an analysis of the industrial components required for this application. It describes types of industrial robots, their end-effectors, industrial cameras, lighting systems, and other related hardware. Furthermore, various methods for image segmentation and subsequent object localization are described in detail. Finally, a basic version of a pick-and-place application is presented, a more complex version of which is then utilized in the practical part of the work.

The practical part focuses on the implementation of a demonstration cell utilizing a Fanuc industrial robot, a conveyor, and a camera. It includes the design of the vision system and a detailed description of the necessary configuration of the camera and the robot, as well as their mutual communication. Additionally, the principle of working with Fanuc software options required for the task is explained. The final chapter describes the execution of the tracking task and its evaluation.