Integration Of Machine Vision In Industrial Robot For Automated Composite Panel Punching

This thesis employs visual servoing control to provide accurate information for repetitive task on the known object. The problem statement on this thesis involves two main points. Firstly, by using the conventional method it is not possible to have one workstation to machine different pattern of com...

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Main Author:	Mohamed Hanafee, Ameer Mohamed Abdeel Aziz
Format:	Thesis
Language:	English
Published:	2018
Subjects:	T Technology TJ Mechanical engineering and machinery
Online Access:	http://eprints.usm.my/56061/1/Integration%20Of%20Machine%20Vision%20In%20Industrial%20Robot%20For%20Automated%20Composite%20Panel%20Punching_Ameer%20Mohamed%20Abdeel%20Aziz%20Mohamed%20Hanafee.pdf
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id	my-usm-ep.56061
record_format	uketd_dc
spelling	my-usm-ep.560612022-12-20T09:39:10Z Integration Of Machine Vision In Industrial Robot For Automated Composite Panel Punching 2018-11-01 Mohamed Hanafee, Ameer Mohamed Abdeel Aziz T Technology TJ Mechanical engineering and machinery This thesis employs visual servoing control to provide accurate information for repetitive task on the known object. The problem statement on this thesis involves two main points. Firstly, by using the conventional method it is not possible to have one workstation to machine different pattern of composite panels, nor using different fixtures and tools at the same time. Secondly, the current KUKA Robot Controller (KRC) 4 does not have the capability to communicate with an external device due to the controller safety protocol. The aim of this research is to build a machine vision algorithm for assisting KUKA robot in recognizing and calibrating various shapes of composite panels precisely. The second objective is to develop and integrate communication interface program for KRC4 and Raspberry Pi (RPi) microcontroller and to evaluate the performance of visual servoing control system for automated composite panel punching. By using socket module for Python programming language, the feedback control system is built by communicating RPi with KRC4 through Ethernet using KUKA Robot Language (KRL) to enable the robot to execute the whole process. The image are traced using the machine vision function. Shape factor value of each four different panels sorted through the graph for 15 process cycle. Position and rotation of panels are compared to three coordinate systems which are camera, workpiece and machining center. The differences of these coordinates with the reference coordinate translated as error and adjustment was made to remove the error. As a conclusion, KUKA robot integration with RPi enables the machining process of different panels executed in a workstation only. 2018-11 Thesis http://eprints.usm.my/56061/ http://eprints.usm.my/56061/1/Integration%20Of%20Machine%20Vision%20In%20Industrial%20Robot%20For%20Automated%20Composite%20Panel%20Punching_Ameer%20Mohamed%20Abdeel%20Aziz%20Mohamed%20Hanafee.pdf application/pdf en public masters Universiti Sains Malaysia Pusat Pengajian Kejuruteraan Mekanikal
institution	Universiti Sains Malaysia
collection	USM Institutional Repository
language	English
topic	T Technology TJ Mechanical engineering and machinery
spellingShingle	T Technology TJ Mechanical engineering and machinery Mohamed Hanafee, Ameer Mohamed Abdeel Aziz Integration Of Machine Vision In Industrial Robot For Automated Composite Panel Punching
description	This thesis employs visual servoing control to provide accurate information for repetitive task on the known object. The problem statement on this thesis involves two main points. Firstly, by using the conventional method it is not possible to have one workstation to machine different pattern of composite panels, nor using different fixtures and tools at the same time. Secondly, the current KUKA Robot Controller (KRC) 4 does not have the capability to communicate with an external device due to the controller safety protocol. The aim of this research is to build a machine vision algorithm for assisting KUKA robot in recognizing and calibrating various shapes of composite panels precisely. The second objective is to develop and integrate communication interface program for KRC4 and Raspberry Pi (RPi) microcontroller and to evaluate the performance of visual servoing control system for automated composite panel punching. By using socket module for Python programming language, the feedback control system is built by communicating RPi with KRC4 through Ethernet using KUKA Robot Language (KRL) to enable the robot to execute the whole process. The image are traced using the machine vision function. Shape factor value of each four different panels sorted through the graph for 15 process cycle. Position and rotation of panels are compared to three coordinate systems which are camera, workpiece and machining center. The differences of these coordinates with the reference coordinate translated as error and adjustment was made to remove the error. As a conclusion, KUKA robot integration with RPi enables the machining process of different panels executed in a workstation only.
format	Thesis
qualification_level	Master's degree
author	Mohamed Hanafee, Ameer Mohamed Abdeel Aziz
author_facet	Mohamed Hanafee, Ameer Mohamed Abdeel Aziz
author_sort	Mohamed Hanafee, Ameer Mohamed Abdeel Aziz
title	Integration Of Machine Vision In Industrial Robot For Automated Composite Panel Punching
title_short	Integration Of Machine Vision In Industrial Robot For Automated Composite Panel Punching
title_full	Integration Of Machine Vision In Industrial Robot For Automated Composite Panel Punching
title_fullStr	Integration Of Machine Vision In Industrial Robot For Automated Composite Panel Punching
title_full_unstemmed	Integration Of Machine Vision In Industrial Robot For Automated Composite Panel Punching
title_sort	integration of machine vision in industrial robot for automated composite panel punching
granting_institution	Universiti Sains Malaysia
granting_department	Pusat Pengajian Kejuruteraan Mekanikal
publishDate	2018
url	http://eprints.usm.my/56061/1/Integration%20Of%20Machine%20Vision%20In%20Industrial%20Robot%20For%20Automated%20Composite%20Panel%20Punching_Ameer%20Mohamed%20Abdeel%20Aziz%20Mohamed%20Hanafee.pdf
_version_	1776101126962151424

Integration Of Machine Vision In Industrial Robot For Automated Composite Panel Punching

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