Developing a machine vision system for certain-object's shape, orientation and location detection for sorting purposes using a mitsubishi industrial micro-robot rv-m1 manipulator

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Developing a machine vision system for certain-object's shape, orientation and location detection for sorting purposes using a mitsubishi industrial micro-robot rv-m1 manipulator

Kwik, Darius Budisantosa - Personal Name; Prajogo, Tutuko - Personal Name;

In this thesis, a machine vision system is built for the sorting purpose, which dedicatedrnfor pre-assembly process that able to do object recognition, location and orientationrndetection based on 2D shape image properties of a predefined object. In the process,rnsorting, orientating, and material handling tasks need to be done. To do such tasks,rnDiffuse Brick Lighting is applied in the system to produce silhouette image. Computer Vision library, OpenCV, will be used in the image processing process. Freeman ChainrnCode Feature Extraction method with Least SAD Chain Code Histogram 4-DoublernShifting Bins Matching Method is used as the object recognition and orientationrndetection solution. Minimum Area Bounding Box method is used for location detectionrnsolution. An Image to Robot Coordinate System Transformation is applied to transformrnthe object location in the image to the robot coordinate system. Such grabbingrndetermination method is also applied so the robot could grab the object in a proper way.rnIn this system, Robot Arm Mitsubishi Movemaster RV-M1 is used to perform all thernworks. The performance of the system is 71.4% due to disturbance from environmentrnillumination and 3D object in 2D image perspective effect. In conclusion, by inducingrnvision capabilities to the robot arm, a smart sorting system is built so that predefinedrnobjects with flexible location and orientation could be sorted satisfactorily.

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Series Title: -
Call Number: 878
Publisher: : Swiss German University., 2011
Collation: -
Language: English
ISBN/ISSN: -
Classification: NONE
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Edition: -
Subject(s): MT
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