Gerçek zamanlı görüntü işleme temelli al-bırak yapabilen endüstriyel robot kol
Küçük Resim Yok
Tarih
2019
Yazarlar
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Karabük Üniversitesi
Erişim Hakkı
info:eu-repo/semantics/openAccess
Özet
Bu çalışmada, bir robot kolun görüntü işleme temelli malzeme sınıflandırmada kullanılması amaçlanmaktadır. Malzemeler renk tabanlı sınıflandırılmaktadır. Uygulama öncesi robot kolun benzetim çalışması yapıldı. Bu çalışma için robot kolun bilgisayar destekli tasarımı yapıldı ve MATLAB / Simulink ortamına aktarıldı. Benzetim çalışması robot kolun başlangıç konumundan belirli açılarla belirli bir konuma hareketi üzerine tasarlandı ve PID kontrol ile çalıştırıldı. Benzetim çalışması başarıyla gerçekleştirildi ve böylece uygulama adımına geçildi. Robot kolun ulaşılabilir çalışma uzayı içerisinde rastgele konumlara yerleştirilen mavi, yeşil ve kırmızı malzemeler ait oldukları bölümlere taşınmaktadır. Malzemelerin renklerinin algılanması ve üç boyutlu konumlarının belirlenmesi için bilgisayarlı görme sistemlerinden olan stereo görme sistemi kullanılmaktadır. Robot kol ile konumu ve rengi bilinen malzemeler ait olduğu bölümlere yerleştirilmektedir. Çalışmada tercih edilen robot RRR (dönel) tipi ve üç serbestlik dereceli bir robot koldur. Eklemlerindeki servo motorlar sayesinde hassas hareket edebilen bu robot kol, ulaşılabilir çalışma uzayında yer alan ilgili malzemeleri ilgili konumlara başarıyla al - bırak yapabilmektedir.
In this work, it is aimed that a robotic arm is used for object classification based on image processing. Objects are classified as color - based. In advance of this work, simulation of the robotic arm was made. Computer aided design of the robotic arm was made and it was tansfered to MATLAB / Simulink. The simulation was designed on a movement of the robotic arm from initial position to a defined position with defined angles and it was run with PID control. This simulation was carried out successfully and therefore application step has been started. Blue, green and red objects, which are placed to arbitrary positions in reachable workspace of robotic arm, are carried to the areas which they belong to. A stereo vision system which is one of the computer vision systems is used for detecting the colors and estimating the positions of the objects. By the robotic arm, the objects whose colors and positions are known is placed to the areas which they belong to. The robotic arm, which is prefered in this work, is RRR (rotary) type and has three degree of freedom. The robotic arm, which can act sensitively owing to the servo motors at its joints, performs pick and place the related objects which are in reachable workspace to the related position successfully.
In this work, it is aimed that a robotic arm is used for object classification based on image processing. Objects are classified as color - based. In advance of this work, simulation of the robotic arm was made. Computer aided design of the robotic arm was made and it was tansfered to MATLAB / Simulink. The simulation was designed on a movement of the robotic arm from initial position to a defined position with defined angles and it was run with PID control. This simulation was carried out successfully and therefore application step has been started. Blue, green and red objects, which are placed to arbitrary positions in reachable workspace of robotic arm, are carried to the areas which they belong to. A stereo vision system which is one of the computer vision systems is used for detecting the colors and estimating the positions of the objects. By the robotic arm, the objects whose colors and positions are known is placed to the areas which they belong to. The robotic arm, which is prefered in this work, is RRR (rotary) type and has three degree of freedom. The robotic arm, which can act sensitively owing to the servo motors at its joints, performs pick and place the related objects which are in reachable workspace to the related position successfully.
Açıklama
Fen Bilimleri Enstitüsü, Mekatronik Mühendisliği Ana Bilim Dalı
Anahtar Kelimeler
Mekatronik Mühendisliği, Mechatronics Engineering
