Smart Systems for the Classification of Color Parts-Combination of a Six Axis Robot and Machine Visions

• Main Authors: Chang,Wen-Chien, 張文謙
• Other Authors: Tsai,Chi-Sheng
• Format: Others
• Language: zh-TW
• Published: 2019
• Online Access: http://ndltd.ncl.edu.tw/handle/36x49c

碩士 === 建國科技大學 === 自動化工程系暨機電光系統研究所 === 107 === Amid the progress in the automation technology, to combine robotic arms and machine visions for the application in modern factories becomes an important development of various industries in the near future. Such as: drugs inspection, loading and unloading, assembling etc. However, most applications of machine visions only focus on the gray images, the application for color images is still in the early stage of development. Thus, the objective of this thesis is to combine robotic arms and machine visions for the classification of the color parts, such that to promote production technology and product qualities. In the study, a DIY six-axis robotic arm with the LNC controller is developed. The commercial software of Inspect Express is used to develop the machine vision included acquiring images, processing images and showing the processed results such as: color, shape, dimension and position. The processed results are then passed to the controller of robotic arm by way of information hand-shaking. The developed system shows that the machine vision module can distinguish color, shape, dimension and position from target objects and the robotic arm can work precisely. The classification experiments are tested with 4 kinds of parts’ shapes (square, circle, triangle and any) and 4kinds of parts’ colors (red, yellow, blue and green). The criteria of experiments are to check the robotic arm can exactly take the color parts to the specific position. The results of the classification experiments show that the precise rate is 100%.