Robotized Part Picking With Machine Vision Guidance

Abstract

Controlling of a robot can be assisted with machine vision by changing the movement of robot using camera. This thesis describes design and implementation of a part picking application which is made using machine vision. The workpieces are picked from conveyor where they are fed by sawing machine. At first robot programming and machine vision programming is introduced. Also the devices and system layout is presented. Design and implementation are also showed. System design phase introduces the workpieces and the representation of the pieces. Also performance requirements are studied. Designing the system consists also of selecting proper lighting and imaging equipment. Implementation shows how the machine vision programs used for recognizing workpieces are made. This phase explains also how the robot programs are built and how the integration of machine vision and robot is done. Finally the system is tested and the necessary modifications are made.