20.500.12556/DKUM-85754 Pobiranje različlnih neurejenih polizdelkov iz zaboja s kolaborativnim robotom UR5e in 3D kamero diplomsko delo Picking various randomly placed semi-finished products from a crate with a collaborative robot UR5e and a 3D camera Diplomska naloga prikazuje avtomatizacijo procesa pobiranja polizdelkov iz zaboja s pomočjo kamere Zivid one+ M in kolaborativnega robota UR5e. Cilj naloge je dokazati, da je z uporabo strojnega vida in s kolaborativnim robotom mogoča avtomatizacija procesa, kar lahko prispeva k povečanju produktivnosti in zmanjšanju stroškov. Obravnavani izzivi vključujejo načrtovanje delovnega okolja, izdelavo prijemal ter določanje poti robota. Predstavljen je tudi postopek delovanja kamere Zivid one+ M pri zaznavanju polizdelkov v zaboju. Rezultati eksperimentov potrjujejo učinkovitost delovanja sistema, pri čemer naloga dodatno poudarja pomembnost programskega okolja Sick PLB. Predstavljena aplikacija ima velik potencial za uporabo v sistemih avtomatizacije kosovne proizvodnje z namenom nadomeščanja delavcev na monotonih in rutinskih delovnih operacijah The diploma thesis demonstrates the automation of the process of picking semi-finished products from the box with the help of the Zivid one+ M camera and the collaborative robot UR5e. The aim of the task is to prove that by using machine vision and a collaborative robot it is possible to automate the process, which can contribute to increasing productivity and reducing costs. Challenges addressed include designing the work environment, making grippers, and determining the path of the robot. The operating procedure of the Zivid one+ M camera for detecting semi-finished products in a box is also presented. The results of the experiments confirm the efficiency of the system, and the task additionally emphasizes the importance of the Sick PLB programming environment. The presented application has great potential for use in mass production automation systems with the aim of replacing workers in monotonous and routine work operations Pobiranje iz zaboja Sick PLB 3D kamera Zivid one+ M lociranje izdelkov merilna točka Bin picking Sick PLB Zivid one+ M 3D camera locating products measuring point true true false [T. Jurgec] Slovenski jezik Angleški jezik Diplomsko delo/naloga 2023-09-10 20:30:48 2023-10-09 11:38:24 2024-03-02 03:13:24 0000-00-00 00:00:00 2023 0 Maribor 0 Maribor 1 spletni vir (1 datoteka PDF (XI, 38 f.)) 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 007.52(043.2) 187436547 UN_Jurgec_Timotej_2023.pdf UN_Jurgec_Timotej_2023.pdf 1 D7B7214AFBF3BC764E00D39A5C7FDB15 f1018577677c829a96b6a57128737705875a64c607f698325a7a5451394eb495 527e76bc-5610-11ee-86d1-00155d000105 https://dk.um.si/Dokument.php?lang=slv&id=172437 Fakulteta za strojništvo 0 0 0