3-eksenli robota monte edilmiş kamera vasıtasıyla geometrik cisimlerin birbirinden ayırt edilmesi
The seperation of geometric objects by a digital camera mounted to a 3-axis robot
- Tez No: 167476
- Danışmanlar: YRD. DOÇ. DR. METİN ERTUNÇ
- Tez Türü: Yüksek Lisans
- Konular: Makine Mühendisliği, Mechanical Engineering
- Anahtar Kelimeler: Örüntü tanıma, CNC kontrol kartı, Gantry, M32C83 Mikro denetleyici, G-Kodlan
- Yıl: 2006
- Dil: Türkçe
- Üniversite: Kocaeli Üniversitesi
- Enstitü: Fen Bilimleri Enstitüsü
- Ana Bilim Dalı: Mekatronik Mühendisliği Ana Bilim Dalı
- Bilim Dalı: Belirtilmemiş.
- Sayfa Sayısı: 54
Özet
3-EKSENLI ROBOTA MONTE EDİLMİŞ KAMERA VASITASIYLA GEOMETRİK CİSİMLERİN BİRBİRİNDEN AYIRT EDİLMESİ Murat KILIV AN
Özet (Çeviri)
THE SEPERATION OF GEOMETRIC OBJECTS BY A DIGITAL CAMERA MOUNTED TO A 3-AXIS ROBOT Murat KILIV AN Keywords : Pattern recognition, CNC control card, Gantry, M32C83 microcontroller, G-codes. Abstract : Utilization of robots in manufacturing has provided the increase of quantity and quality of the industrial products. Nowadays, robots were enhanced with digital cameras; therefore, they also gained the vision features besides their mobility capabilities. Hence, robots are able to see their working platform; they can separate the objects based on their shapes and colors on the table; and they can make decision the suitable movements. In this study, a gantry system having camera was designed to separate the geometric objects on the working table with different colors and shapes such as triangle, square and circle. The image captured by the camera is transferred to computer via USB connection cable. Using software developed under Matlab environment and image processing methods, the position and shapes of the objects on the working table are determined. These objects are put on separate boxes by the end-effector of the robot mounted on the vertical axis. The gantry system employs fundamental movement functions (GOO, G01, G02, G03) that are the commands used for CNC machines. In this study, 32bit Renesas M32C83 MCU microcontroller was chosen which provides floating point feature and mathematical functions for the interpolation of axes movements. Using a graphical interface software developed in Matlab, the vision captured by the cameras can be monitored on the computer screen. The same software also sends commands to robot by communicating from the serial port of the computer to CNC control card. m
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