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Kamerageführte Greifvorgänge am laufenden Transportband, realisiert mit einem DVT Smart Vision Sensor und einem Industrieroboter ABB IRB 2400

Kamerageführte Greifvorgänge am laufenden Transportband, realisiert mit einem DVT Smart Vision Sensor und einem Industrieroboter ABB IRB 2400

          
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About the Book

Studienarbeit aus dem Jahr 2005 im Fachbereich Elektrotechnik, Note: 1,3, Hochschule Mannheim (Institut für Produktionstechnik(ipm)), Sprache: Deutsch, Abstract: Die Aufgabenstellung dieser Arbeit war, einen kamerageführten Greifprozess eines Roboters von einem laufenden Transportband weg zu realisieren. Aufbauend auf die Objekterkennungssoftware der Kamera, welche die Position eines Objektes in einem Bild in Koordinaten umwandelt, war es meine Aufgabe, nun über Zeitmessungen ein Signalkonzept zu erarbeiten, um zu verstehen, wie die Signale aussehen, weitergegeben werden und wie lange ihre Verarbeitung dauert. Somit konnte der Gesamtprozess vom Erkennen bis zum Greifen in Teilprozesse aufgeteilt werden, welche sich leichter untersuchen und programmieren ließen. Über die Dauer der Einzelprozesse konnte eine Totzeit zwischen Bildentstehung und dem Zeitpunkt, wenn dem Roboter die Zielkoordinaten der Greifbewegung zur Verfügung stehen, ermittelt werden. Dadurch kann man im Programm eine Positionskorrektur vornehmen, da sich das Objekt in dieser Totzeit auf dem Förderband unerkannt weiterbewegt. Realisiert wurde diese Aufgabe mit einem DVT SmartImage Sensor und einem Industrieroboter ABB IRB 2400/10. * Zu Beginn wurden die benötigten Zeitmessungen durchgeführt, welche zur Entwicklung eines Signalkonzeptes nötig waren. Am Ende stand dann ein autonomer Greifprozess. Gemessen wurden dabei die Löschzeit der RS232-Schnittstelle * die Auslesezeit des von der Kamera übertragenen Koordinatenstrings aus der seriellen Schnittstelle und Umrechnung in Koordinaten (x, y, Ψ) * Messung der Bildverarbeitungszeit der Kamera Der autonome Greifprozess, oder auch als "Dual Prozess" bezeichnet, beinhaltet auch das Auftreten mehrerer Objekte auf dem Förderband. Ein besonderer Zusatz ist die automatische Prozessrücksetzung in einem Fehlerfall, der über Fehlerroutinen abgehandelt wird. Auf Grund der gewonnen Messwerte war meine Ergebnis eine sich ständi


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Product Details
  • ISBN-13: 9783638772983
  • Publisher: Grin Publishing
  • Binding: Paperback
  • Language: German
  • Returnable: N
  • Spine Width: 5 mm
  • Width: 148 mm
  • ISBN-10: 3638772985
  • Publisher Date: 08 Nov 2007
  • Height: 210 mm
  • No of Pages: 80
  • Series Title: German
  • Weight: 113 gr


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Kamerageführte Greifvorgänge am laufenden Transportband, realisiert mit einem DVT Smart Vision Sensor und einem Industrieroboter ABB IRB 2400
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Kamerageführte Greifvorgänge am laufenden Transportband, realisiert mit einem DVT Smart Vision Sensor und einem Industrieroboter ABB IRB 2400
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