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Title:
MANIPULACIJA OBJEKTOV NA TRANSPORTNEM TRAKU Z ROBOTOM FANUC M-1iA
Authors:
ID
Jahiri, Arben
(Author)
ID
Hace, Aleš
(Mentor)
More about this mentor...
Files:
UN_Jahiri_Arben_2015.pdf
(3,20 MB)
MD5: D82FF75D25B6C4942159EFBF29147942
Language:
Slovenian
Work type:
Bachelor thesis/paper
Typology:
2.11 - Undergraduate Thesis
Organization:
FERI - Faculty of Electrical Engineering and Computer Science
Abstract:
Roboti z vizualnim sledenjem se uporabljajo za razvrščanje, pakiranje in montiranje. V diplomskem delu smo uporabljali 6-osnega paralelnega robota FANUC M-1iA. S kamero robot zazna objekt na transportnem traku, ki ga poganja enosmerni napajalnik. Poleg kamere se uporablja dajalnik, saj z njim določimo lokacijo objekta, ko je ta izven vidnega polja kamere. Ko robot dobi vse potrebne podatke o objektu, ga s prijemalom prime in odloži v predal. Najprej smo izvedli kalibracijo kamere, transportnega traka in dajalnika, nato pa smo z ročno programirno enoto sestavili program za manipuliranje objektov. Robotski program je bil izdelan v Fanuc-ovem robotskem jeziku TPP. V programskem jeziku KAREL je izdelan programski paket oz. knjižnica Visual Line Tracking, iz katere samo kličemo oz. uporabljamo podprograme v našem programu.
Keywords:
Robot Fanuc M-1iA
,
manipulacija
,
transportni trak
,
vizualno sledenje
,
KAREL
Place of publishing:
[Maribor
Publisher:
A. Jahiri
Year of publishing:
2015
PID:
20.500.12556/DKUM-54774
UDC:
004.896:007.52(043.2)
COBISS.SI-ID:
19353366
NUK URN:
URN:SI:UM:DK:ZUFXNHJL
Publication date in DKUM:
14.10.2015
Views:
1693
Downloads:
116
Metadata:
Categories:
KTFMB - FERI
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:
JAHIRI, Arben, 2015,
MANIPULACIJA OBJEKTOV NA TRANSPORTNEM TRAKU Z ROBOTOM FANUC M-1iA
[online]. Bachelor’s thesis. Maribor : A. Jahiri. [Accessed 19 March 2025]. Retrieved from: https://dk.um.si/IzpisGradiva.php?lang=eng&id=54774
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Secondary language
Language:
English
Title:
OBJECT MANIPULATION ON THE CONVEYOR BELT BY THE FANUC M-1iA ROBOT
Abstract:
Robots with visual tracking are used for sorting, packing and assembling. In our final work we used 6-axis parallel robot FANUC M-1iA. Camera is used to detect objects on the conveyor belt, which is powered by DC power supply. Besides the camera, we also used an encoder, which selects the location of the object, when it is outside the visual area of the camera. When the robot gets all the required information about the object, it holds the object with the holding tool and puts it in the box. First we calibrated the camera, the conveyor belt and the encoder and then we formed a program for manipulation of objects with a teach pendant. The robot program was made in Fanuc's robot programming language TPP. The Visal Line Tracking library, which is used for calling other subroutines in our program, is written in the programming language KAREL.
Keywords:
Robot Fanuc M-1iA
,
manipulation
,
conveyor belt
,
visual line tracking
,
KAREL
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