SISTEMA DE VISÃO COMPUTACIONAL PARA DETERMINAÇÃO DAS COORDENADAS DE PEÇAS DISPOSTAS ALEATORIAMENTE NA ÁREA DE TRABALHO DO ROBÔ

por: Leandro Tognon, Flavio Jose Lorini, Renato Ventura Bayan Henriques, Maik Basso

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Ano: 2019

Instituições de ensino: Universidade Federal do Rio Grande do Sul, Universidade Federal do Rio Grande do Sul, Universidade Federal do Rio Grande do Sul, Universidade Federal do Rio Grande do Sul

Idioma: Portugues

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Resumo

This paper presents a computer vision system capable, through the capture and processing of digital images, to identify the position and orientation of several parts arranged randomly in the same surface, in the industrial robot workspace. The image is captured by a camera and processed, where the thresholding is performed in order to obtain a final image with the parts segmented and identified. The center of mass of each part are then defined, and an artificial neural network is applied to determine their orientations. The neural network has a multi-layer feed forward architecture with one hidden layer, and was previously trained with several images of similar parts as those used for the tests. The coordinates obtained can be sent to the controller of a robotic manipulator, which would collect these parts and transfer them to another location previously defined. The proposed method was tested using an image set obtained in order to simulate real situation in an industrial environment, with multiple parts randomly arranged in a surface.


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