CHAPTER (1)
INTRODUCTION
Background
The word robot was introduced in 1921 by the Czech playwright Karel Capek in his satirical play R. U. R. (Rossum’s Universal Robots). The word comes from the Czech “robota”, which means tedious labor. Lots of robots can be seen in these days replacing man power in the industry field. The use of the robot can increased the production as well as lowering the labor requirement. The International Standards Organization gives define the word "robot" to be used when counting the number of robots in each country. International standard ISO 8373 defines a "robot" as: ‘An automatically controlled, reprogrammable, multipurpose, manipulator programmable in three or more axes, which may be either, fixed in place or …show more content…
Objectives
The objective of this thesis is to investigate the possibility of combining a Rostock delta robot equipped with a conveyor in its workspace with a computer vision ability to be used in sorting process based on the shape, color and size. The main focus will be on developing a complete system based on known methods in robotics and computer vision. More specific goals include: Design a two way conveyor suited for placing in the Rostock delta robot workspace. Generating the robot main equations by computing the delta robot inverse kinematics. Test the performance of the robot using the inverse kinematics equations generated Research potential vision-based control algorithms that is suitable for identifying and locating the desired parts on the system’s conveyor, compare between them and moving the robot end effector to mark …show more content…
According to the above goals this research can be split into four different parts. Initially, the robot mathematical model determining by solving the Robot kinematics. Second, discussing the electro-mechanical design, component selections and wiring of the designed system. Third, calibrating the camera to transform between the camera’s coordinates and the world coordinates. The last part is applying the researched vision algorithms which are done using MATLAB/SIMULINK program (image processing toolbox) to guide the robot to identify and locate the desired parts and marking them on the conveyor.
The control algorithms depend on the image processing of the video stream captured by a camera and sent to computer. When using a camera as a visual sensor for a robot, the camera could either be located at a fixed position outside the workspace of the robot or it could be attached to the robot end effector and follow its movements. The work presented here mainly concerns the first case. Thesis Outline
Chapter (2) Describes previously reported scientific papers and surveys various vision robot
INTRODUCTION
Background
The word robot was introduced in 1921 by the Czech playwright Karel Capek in his satirical play R. U. R. (Rossum’s Universal Robots). The word comes from the Czech “robota”, which means tedious labor. Lots of robots can be seen in these days replacing man power in the industry field. The use of the robot can increased the production as well as lowering the labor requirement. The International Standards Organization gives define the word "robot" to be used when counting the number of robots in each country. International standard ISO 8373 defines a "robot" as: ‘An automatically controlled, reprogrammable, multipurpose, manipulator programmable in three or more axes, which may be either, fixed in place or …show more content…
Objectives
The objective of this thesis is to investigate the possibility of combining a Rostock delta robot equipped with a conveyor in its workspace with a computer vision ability to be used in sorting process based on the shape, color and size. The main focus will be on developing a complete system based on known methods in robotics and computer vision. More specific goals include: Design a two way conveyor suited for placing in the Rostock delta robot workspace. Generating the robot main equations by computing the delta robot inverse kinematics. Test the performance of the robot using the inverse kinematics equations generated Research potential vision-based control algorithms that is suitable for identifying and locating the desired parts on the system’s conveyor, compare between them and moving the robot end effector to mark …show more content…
According to the above goals this research can be split into four different parts. Initially, the robot mathematical model determining by solving the Robot kinematics. Second, discussing the electro-mechanical design, component selections and wiring of the designed system. Third, calibrating the camera to transform between the camera’s coordinates and the world coordinates. The last part is applying the researched vision algorithms which are done using MATLAB/SIMULINK program (image processing toolbox) to guide the robot to identify and locate the desired parts and marking them on the conveyor.
The control algorithms depend on the image processing of the video stream captured by a camera and sent to computer. When using a camera as a visual sensor for a robot, the camera could either be located at a fixed position outside the workspace of the robot or it could be attached to the robot end effector and follow its movements. The work presented here mainly concerns the first case. Thesis Outline
Chapter (2) Describes previously reported scientific papers and surveys various vision robot