20.500.12556/DKUM-91678 Assessing the potential of computer vision for precise workpiece positioning in drilling applications bachelor's thesis Evalvacija integracije računalniškega vida za precizno pozicioniranje obdelovancev v aplikacijah vrtanja The thesis addresses the theoretical and practical approach to developing an application for drilling and detecting workpieces. It involves using a UR5e collaborative robot, equipped with a drill and a camera that detects the workpiece, determines its position and orientation, and then communicates this information to the robot, which moves to align the centre of the workpiece with the TCP of the camera. The robot then drills into all four edges of the detected workpiece. The development of the application was carried out using RoboDK, a tool for offline programming of robots, and the RoboDK Python API, which handled the entire image processing and program logic. The research primarily focused on the deviations between absolutely fixed and randomly positioned workpieces. The application holds great significance in the industry, as workpieces often do not have a consistent position since they are frequently thrown onto the work surface or conveyor belt. With this application, this inconsistency is not an issue, as the detection of workpieces and machine vision allows us to easily identify the workpiece and perform the required operation. Diplomsko delo obravnava teoretični in praktični pristop k razvoju aplikacije za vrtanje in detekcijo obdelovancev. Uporabljen je bil kolaborativni robot UR5e, opremljen z vrtalnikom in kamero, ki zaznava obdelovanec, določi njegovo pozicijo in orientacijo ter posreduje podatke robotu, ki se nato premakne tako, da sta center obdelovanca in TCP kamere poravnana. Nato se izvede simulacija vrtanje v vseh štirih robovih zaznanega obdelovanca. Za razvoj aplikacije je bilo uporabljeno orodje RoboDK za off-line programiranje robotov, skupaj z RoboDK Python API, ki je poskrbel za celotno obdelavo slike in logiko programa. Poudarek je bil na preučevanju odstopanj med absolutno fiksiranim in naključno postavljenim obdelovancem. Aplikacija ima velik pomen v industriji, saj obdelovanci pogosto nimajo enakega položaja, ker so velikokrat zgolj vrženi na obdelovalno površino ali tekoči trak. S pomočjo detekcije obdelovancev in strojnega vida ni več pomembno, v kakšnem položaju so obdelovanci, saj se lahko z lahkoto zazna obdelovanec in izvede zahtevana operacija. računalniški vid avtomatizacija off-line programiranje computer vision automation Cobot UR5e offline programming true true false [N. Korošec] Angleški jezik Slovenski jezik Diplomsko delo/naloga 2025-01-27 13:33:45 2026-04-01 11:47:40 2026-04-15 03:08:13 0000-00-00 00:00:00 2025 0 Aarhus 0 Aarhus 1 spletni vir (1 datoteka PDF (XI, 71 str.)) 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 004.932:[681.5:621.951](043.2) 275197443 Diplomsko_delo_Niko_Korosec_Z.pdf Diplomsko_delo_Niko_Korosec_Z.pdf 1 C2EF05529E08676222F81C65DA8B9E61 dff4803bc4b664961473eebdc740aa9aa4bc207b6e1943fbeb83bc13aa0d338f b5e1bbb1-2daf-11f1-b2eb-00155d0001a1 https://dk.um.si/Dokument.php?lang=slv&id=204960 Fakulteta za strojništvo 0 0 0