ROBOT ARM RING PICK-AND-PLACE WITH MACHINE VISION

Authors

  • Stefan Mirilović Autor
  • Milan Vidaković FTN Novi Sad, Departman za računarstvo i automatiku Autor

DOI:

https://doi.org/10.24867/15BE32Mirilovic

Keywords:

WPF, C#, Codesys, Fanuc Robot, Halcon, Machine vision

Abstract

This paper deals with a system for pick-and-placing rings using machine vision. Software portion of the system is a WPF application, implemented using Halcon and Codesys frameworks. Hardware portion is a Fanuc robot CRX-10iA/L with a custom-built gripper and a camera. WPF application allows the user to start, pause and stop the robot, among other functions.

References

[1] Pick-and-place
https://en.wikipedia.org/wiki/Pick-and-place_machine
[2] Machine vision
https://en.wikipedia.org/wiki/Machine_vision
[3] FANUC
https://en.wikipedia.org/wiki/FANUC
[4] Collaborative robot
https://en.wikipedia.org/wiki/Cobot
[5] Ethernet/IP
https://en.wikipedia.org/wiki/EtherNet/IP
[6] GigE Vision
https://en.wikipedia.org/wiki/GigE_Vision
[7] Codesys
https://en.wikipedia.org/wiki/CODESYS
[8] Windows Presentation Foundation
https://en.wikipedia.org/wiki/Windows_Presentation_Foundation
[9] Halcon
https://www.mvtec.com/products/halcon
[10] IEC 61131-3
https://en.wikipedia.org/wiki/IEC_61131-3
[11] Programmable logic controller
https://en.wikipedia.org/wiki/Programmable_logic_controller
[12] Runtime system
https://en.wikipedia.org/wiki/Runtime_system
[13] OpenCV
https://en.wikipedia.org/wiki/OpenCV

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Published

2021-11-09

Issue

Vol. 36 No. 11 (2021): Proceedings of the Faculty of Technical Sciences

Section

Electrotechnical and Computer Engineering