20.500.12556/DKUM-79277 Robotska manipulacija objektov v prostoru z uporabo 2D strojnega vida magistrsko delo Robotical manipulation of objects in space using 2d machine vision Magistrska naloga predstavlja uporabo strojnega vida v avtomatiziranih robotskih procesih. S pomočjo tega imajo roboti možnost vizualnega zaznavanja objektov, simbolov, karakterjev, barv in to delo lahko opravljajo hitro in neizčrpno. Tako lahko roboti samodejno in dinamično manipulirajo z objekti, s katerimi so predhodno manipulirali po točno določenem zaporedju in trajektorijah. Cilj naloge je izdelava preprostega in prilagodljivega sistema 2D stojnega vida, ki robotu s preprosto primi in spusti aplikacijo, pošilja informacije o zaznanem objektu, preko katerih nato robot prosto ležeč objekt v prostoru zgrabi in ga loči v predviden zalogovnik. Pri nalogi sta bila uporabljena kolaborativna robota podjetja Universal robot z oznako UR3 in UR5. Za namen zajema in obdelave slike ter komunikacije z robotskima sistemoma pa je bil uporabljen programski paket LabVIEW z Vision Assistant in Vision Acquisition dodatkom. Uporabljeni sta še industrijski kameri podjetja Basler različnih dimenzij. Od tega je bila večja kamera vpeta fiksno v prostoru, manjša pa na vrhu robotske roke. Za primerjavo se je uporabila tudi enostavna USB endoskopska kamera, ki je bila zaradi majhnih dimenzij prav tako pritrjena na vrhu robotske roke. V tem se boste seznanili z navodili za izdelavo robotske aplikacije s strojnim vidom v programskem paketu LabVIEW. The master's thesis presents the use of machine vision in automated robotic processes. With this, robots can visually perceive objects, symbols, characters, colours, as well as perform this work quickly and inexhaustibly. Robots can thus automatically and dynamically manipulate objects that have previously been manipulated in a specific sequence and trajectories. The aim of the thesis is to create a simple and flexible 2D machine vision system that sends the information about the detected object to the robot in a simple pick-and-place application, through which the robot then grabs a free-lying object in space and separates it into the intended storage. Collaborative robots from the company Universal robot, marked UR3 and UR5, were used in the task. The LabVIEW software package with Vision Assistant and Vision Acquisition add-ons was used for capturing and processing images and communicating with robotic systems, as well as Basler industrial cameras of various dimensions. Of these, a larger camera was mounted fixed in space and a smaller one on the top of the robotic arm. A simple USB endoscopic camera, which was also attached to the top of the robotic arm due to its small dimensions, was also used for comparison. This work gives you an insight into the instructions for creating a robotic application with the machine vision in the LabVIEW software package. Strojni vid robotski sistemi kolaborativni robot detekcija orientacije LabVIEW industrijska kamera Machine vision robotic systems collaborative robot orientation detection LabVIEW industrial camera true true false [K. Zaponšek] Slovenski jezik Angleški jezik Magistrsko delo/naloga 2021-06-08 01:36:29 2021-10-04 11:21:22 2022-08-09 20:22:24 0000-00-00 00:00:00 2021 0 Maribor 0 Maribor XI, 69 str. 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 004.93:007.52(043.2) 99446275 MAG_Zaponsek_Klemen_2021.pdf MAG_Zaponsek_Klemen_2021.pdf 1 895C98F2B5DB8D3506022DD353F6F513 d3f87b6ca4f762938bc22c876a3256bccb2a89cfe032602ee43c853cc0780a8d ce6539be-d916-11eb-94c9-00155d581298 20.500.12556/dkum/5f13a6b5-11d7-4a61-89c9-eecbda12dcb4 https://dk.um.si/Dokument.php?lang=slv&id=151018 Fakulteta za strojništvo 0 0 0