External calibration and optimization of conveyor tracking for robotic applications
The aim of this thesis is to develop a calibration methodology for an Epson industrial robot, a vision system and a conveyor belt for conveyor tracking applications using external non-Epson cameras. The calibration is the joining component which allows the three essential hardware elements involved...
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| Tipo de recurso: | tesis de maestría |
| Fecha de publicación: | 2023 |
| País: | España |
| Institución: | Universitat Politècnica de Catalunya (UPC) |
| Repositorio: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | inglés |
| OAI Identifier: | oai:upcommons.upc.edu:2117/392680 |
| Acceso en línea: | https://hdl.handle.net/2117/392680 |
| Access Level: | acceso abierto |
| Palabra clave: | Manipulators (Mechanism) -- Programari -- Design and construction Robot vision -- Calibration -- Software -- Design and construction Assembly-line methods -- Automation calibration conveyor tracking application robot camera conveyor belt calibrazione applicazioni di tracciamento di nastro telecamera nastro trasportatore Manipuladors (Mecanismes) -- Software -- Disseny i construcció Visió artificial (Robòtica) -- Calibratge -- Programari -- Disseny i construcció Treball en cadena -- Automatització Àrees temàtiques de la UPC::Informàtica::Robòtica |
| Sumario: | The aim of this thesis is to develop a calibration methodology for an Epson industrial robot, a vision system and a conveyor belt for conveyor tracking applications using external non-Epson cameras. The calibration is the joining component which allows the three essential hardware elements involved in conveyor tracking applications to communicate between them, share data and achieve a high quality and accurate performance. The methodology adopted to address the project was to start by learning and comprehend how the different elements involved in a conveyor tracking application, and its environment, function, beginning from a basic level and adding progressively complexity. In order to implement an external and innovative calibration procedure, research of the calibration process provided by the Epson software, only available for Epson cameras, was conducted. The steps followed, the parameters involved and the results obtained were analysed in detail. Following, an external calibration procedure was developed and the results obtained from both methodologies were compared to evaluate if they matched. It was concluded that the external calibration procedure was valid and ready to use. Finally, some conveyor tracking applications were implemented and optimized until the performance was accurate and precise |
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