AUTOMATIC GLASS PICK AND PLACE BY INDUSTRIAL ROBOT

被引：0

作者：

Yu, Xiaowen ^{[1
]}

Zhao, Yu ^{[1
]}

Tomizuka, Masayoshi ^{[2
]}

机构：

[1] Univ Calif Berkeley, Dept Mech Engn, Mech Syst Control Lab, Berkeley, CA 94720 USA

[2] Univ Calif Berkeley, Dept Mech Engn, Berkeley, CA 94720 USA

来源：

PROCEEDINGS OF THE ASME 9TH ANNUAL DYNAMIC SYSTEMS AND CONTROL CONFERENCE, 2016, VOL 2 | 2017年

关键词：

D O I：

暂无

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

In glass manufacturing industry, glass grinding process has significant involvement of human workers. Human workers need to load and unload glass pieces to/from the grinder. A 6 DOF industrial robot could be used to automate the process by the "pick and place" task. In this paper, a vision system is implemented to robustly detect glass piece location and the placing destination. Two distinct detection methods are used for different glass settings. A "pick and place" trajectory is automatically generated based on the detected locations. A simulation is first performed to visualize robot motion before operating on the robot.

引用

页数：7

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