Primjena robotskog 2D vida u industrijskoj robotici

undergraduate thesis

• Title (english): Application of 2D robotic vision in industrial robotics
• Author: Mirko Kostelac
• Mentor: Marko Švaco (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2023-09-28, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

Generalni zadatak ovog rada bio je ispitati primjenu robotskog 2D vida u industrijskoj robotici. Navedeno se ostvarilo na opremi proizvođača FANUC, koji je jedan od svjetskih lidera u tom području. U uvodnom dijelu pružen je sažeti opis računalnog vida općenito i njegove primjene u robotici. Naredno poglavlje opisuje karakteristike FANUC iRVision-a, vizijskog sustava integriranog s FANUC-ovim robotima. U glavnom dijelu rada, odabrani su predmeti koji su se koristili za daljnje procese. Zatim su se ispitale mogućnosti primjene postojećih FANUC iRVision alata za pretprocesiranje slike, detekciju, lokalizaciju, mjerenje i kontrolu kvalitete simulacijom u programskom paketu Roboguide. Na kraju su se ti isti alati u procesima, sličnim simuliranima, validirali na realnom robotu FANUC ER-4iA, u laboratoriju za autonomne sustave.

Abstract (english)

The general task of this thesis was to examine the application of a 2D robotic vision system in industrial robotics. That was accomplished using the equipment manufactured by FANUC, which is one of the world leaders in this field. In the preface, a concise description of computer vision as a whole and its application in the field of robotics was given. The following chapter describes the characteristics of the FANUC iRVision system, which is integrated with FANUC robots. In the main section of the thesis, parts that were later used in processes were selected. Next, the capabilities of existing FANUC iRVision tools for image preprocessing, detection, localization, measurement and inspection were tested in the Roboguide software. Finally, the same tools were validated in processes similar to the simulated ones on the real FANUC ER-4iA robot in the laboratory for autonomous systems.

• Keywords: FANUC industrijski robot; Roboguide; iRVision; 2D vizijski sustavi
• Keywords (english): FANUC industrial robot; Roboguide; iRVision; 2D vision systems
• Language: croatian
• URN:NBN: urn:nbn:hr:235:940643
• 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: 2023-09-27 09:14:40