Algoritam za robotsku paletizaciju predmeta različitih oblika

undergraduate thesis

• Title (english): Algorithm for the robot palletization of different shape objects
• Author: Marko Šimić
• Mentor: Bojan Jerbić (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2018-09-27, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

U ovom radu razvijen je heuristički tip algoritma za autonomnu robotsku paletizaciju predmeta rada različitih dimenzija. Svi predmeti rada istih su visina te dolaze u radni prostor robota pojedinačno jedan za drugim. Robot Fanuc M-10iA svojim vizijskim sustavom prepoznaje geometrije predmeta te prema postojećem stanju na paleti donosi procjenu najpovoljnijeg mjesta odlaganja trenutnog predmeta na paletu ili na međuprostor za odlaganje nepovoljnih predmeta. Algoritam je razvijen na računalu uz pomoć programskog alata Roboguide HandlingPro nakon čega je izvezen na robota i pokrenut preko njegovog privjeska za učenje.

Abstract (english)

This paper presents the development of a heuristic algorithm for the autonomous robotic palletization of work objects of different dimensions. All work objects are of the same height and arrive to the robot's workspace individually one by one. The robot Fanuc M-10iA recognizes the geometry of the current work object through his vision system and provides an estimate of the best place to dispose it according to the existing pallet state. In case of the arrival of an unfavorable object it is going to be disposed to a buffer area. The algorithm was developed with the help of the Roboguide HandlingPro programming tool, after which it was exported to the robot and launched over its teach pendant.

• Keywords: Fanuc; iRVision; heuristički algoritam; robotska paletizacija; predmeti različitih oblika
• Keywords (english): Fanuc; iRVision; heuristic algorithm; robot palletization; various shaped objects
• Language: croatian
• URN:NBN: urn:nbn:hr:235:797330
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2019-05-22 22:58:14