Prototype development of a 3D vision-guided industrial robotic of a detail suface workpiece | |
| Author | Pravee Kruachottikul |
| Call Number | AIT Thesis no.ISE-12-63 |
| Subject(s) | Three-dimensional imaging Robotics |
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering in Mechatronics, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Series Statement | Thesis ; no. ISE-12-63 |
| Abstract | The au tomation trend is becoming more popular in today industries according to high labor cost, labor shortage, reduction of production defect, lack of skilled labor, and so on. One of many automation applications is robot pick and place. The industrial robot, w hich is used to replace human, picks an object from the material handling and then insert into the machine or place in the next production process. Hence, it requires a vision system in order to guide the robot movement; otherwise it will not be intelligen t enough to pick an object in such a case of an unknown position and orientation of the incoming workpiece. From these reasons, this research proposed a prototype development of a 3D vision - guided industrial robotic of a detail surface workpiece. The 3D vision system, which is laser triangulation technique is selected in this thesis because of its accuracy, is used to reconstruct a 3D object model. After reconstructed and obtained a 3D data, the algorithm will search and match the model in 3D scene using 3D surface - based matching technique, which is used the object surface information. As a result, the 3D vision - guided industrial robot can pick up the unknown position and orientation object with an error of less than 2mm. Thus, its performance is good enou gh to use it in the real world application. Consequently, it can enhance the manufacturers by using a high tech 3D vision - guided robotic in order to convert a manual to automatic production line for product handling. |
| Year | 2012 |
| Corresponding Series Added Entry | Asian Institute of Technology. Thesis ; no. ISE-12-63 |
| Type | Thesis |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Manukid Parnichkun |
| Examination Committee(s) | Mongkol Ekpanyapong;Dailey, Mathew N. |
| Scholarship Donor(s) | Royal Thai Government Fellowship |
| Degree | Thesis (M. Eng.) - Asian Institute of Technology, 2012 |