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...
| Autor: | |
|---|---|
| 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 |
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External calibration and optimization of conveyor tracking for robotic applicationsMijancos Martínez, ÁlvaroManipulators (Mechanism) -- Programari -- Design and constructionRobot vision -- Calibration -- Software -- Design and constructionAssembly-line methods -- Automationcalibrationconveyor tracking applicationrobotcameraconveyor beltcalibrazioneapplicazioni di tracciamento di nastrorobottelecameranastro trasportatoreManipuladors (Mecanismes) -- Software -- Disseny i construccióVisió artificial (Robòtica) -- Calibratge -- Programari -- Disseny i construccióTreball en cadena -- AutomatitzacióÀrees temàtiques de la UPC::Informàtica::RobòticaThe 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 preciseL'obiettivo di questa tesi è sviluppare una metodologia di calibrazione per un robot industriale Epson, un sistema di visione e un nastro trasportatore per applicazioni di tracciamento del nastro utilizzando telecamere esterne non Epson. La calibrazione è il componente di unione che permette ai tre elementi hardware di comunicare tra loro, di condividere i dati e di ottenere prestazioni di alta qualità e precisione nelle applicazioni di tracciamento dei nastri trasportatori. La metodologia adottata per affrontare il progetto è stata quella di iniziare a conoscere e comprendere il funzionamento dei diversi elementi coinvolti in un'applicazione di tracciamento dei nastri trasportatori e del suo ambiente, partendo da un livello di base e aggiungendo progressivamente complessità. Al fine di implementare una calibrazione esterna e innovativa, è stata condotta una ricerca del processo di calibrazione fornito dal software Epson, disponibile solo per le telecamere Epson. Sono stati analizzati in dettaglio i passaggi seguiti, i parametri coinvolti e i risultati ottenuti. Successivamente, è stata sviluppata una procedura di calibrazione esterna e i risultati ottenuti da entrambe le metodologie sono stati confrontati per valutarne la corrispondenza. Si è concluso che la procedura di calibrazione esterna era valida e pronta all'uso. Infine, sono state implementate e ottimizzate alcune applicazioni di tracciamento dei trasportatori, fino a ottenere prestazioni accurate e preciseUniversitat Politècnica de CatalunyaPérez González, Juan JesúsRocco, Paolo20232023-07-1320232023-08-02master thesishttp://purl.org/coar/resource_type/c_bdccNAhttp://purl.org/coar/version/c_be7fb7dd8ff6fe43info:eu-repo/semantics/masterThesisapplication/pdfhttps://hdl.handle.net/2117/392680reponame:UPCommons. Portal del coneixement obert de la UPCinstname:Universitat Politècnica de Catalunya (UPC)Inglésengopen accesshttp://purl.org/coar/access_right/c_abf2info:eu-repo/semantics/openAccessoai:upcommons.upc.edu:2117/3926802026-05-27T15:37:01Z |
| dc.title.none.fl_str_mv |
External calibration and optimization of conveyor tracking for robotic applications |
| title |
External calibration and optimization of conveyor tracking for robotic applications |
| spellingShingle |
External calibration and optimization of conveyor tracking for robotic applications Mijancos Martínez, Álvaro 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 robot 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 |
| title_short |
External calibration and optimization of conveyor tracking for robotic applications |
| title_full |
External calibration and optimization of conveyor tracking for robotic applications |
| title_fullStr |
External calibration and optimization of conveyor tracking for robotic applications |
| title_full_unstemmed |
External calibration and optimization of conveyor tracking for robotic applications |
| title_sort |
External calibration and optimization of conveyor tracking for robotic applications |
| dc.creator.none.fl_str_mv |
Mijancos Martínez, Álvaro |
| author |
Mijancos Martínez, Álvaro |
| author_facet |
Mijancos Martínez, Álvaro |
| author_role |
author |
| dc.contributor.none.fl_str_mv |
Pérez González, Juan Jesús Rocco, Paolo |
| dc.subject.none.fl_str_mv |
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 robot 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 |
| topic |
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 robot 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 |
| description |
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 |
| publishDate |
2023 |
| dc.date.none.fl_str_mv |
2023 2023-07-13 2023 2023-08-02 |
| dc.type.none.fl_str_mv |
master thesis http://purl.org/coar/resource_type/c_bdcc NA http://purl.org/coar/version/c_be7fb7dd8ff6fe43 |
| dc.type.openaire.fl_str_mv |
info:eu-repo/semantics/masterThesis |
| format |
masterThesis |
| dc.identifier.none.fl_str_mv |
https://hdl.handle.net/2117/392680 |
| url |
https://hdl.handle.net/2117/392680 |
| dc.language.none.fl_str_mv |
Inglés eng |
| language_invalid_str_mv |
Inglés |
| language |
eng |
| dc.rights.none.fl_str_mv |
open access http://purl.org/coar/access_right/c_abf2 |
| dc.rights.openaire.fl_str_mv |
info:eu-repo/semantics/openAccess |
| rights_invalid_str_mv |
open access http://purl.org/coar/access_right/c_abf2 |
| eu_rights_str_mv |
openAccess |
| dc.format.none.fl_str_mv |
application/pdf |
| dc.publisher.none.fl_str_mv |
Universitat Politècnica de Catalunya |
| publisher.none.fl_str_mv |
Universitat Politècnica de Catalunya |
| dc.source.none.fl_str_mv |
reponame:UPCommons. Portal del coneixement obert de la UPC instname:Universitat Politècnica de Catalunya (UPC) |
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Universitat Politècnica de Catalunya (UPC) |
| reponame_str |
UPCommons. Portal del coneixement obert de la UPC |
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UPCommons. Portal del coneixement obert de la UPC |
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|
| repository.mail.fl_str_mv |
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1869408610423930880 |
| score |
15.300719 |