Desenvolvimento de um sistema de visão de baixo custo utilizando um manipulador robótico industrial visando a automatização de processo de soldagem

Abstract

This work it proposes to add hum low vision system cost by overhauling process which was submitted to the robotic manipulator ASEA IRB6-S2 belonging to the LRSS of the UFMG. Thus, with the use of vision elements that have low investment, associated with a control system developed and that works reliably , and algorithms that require minimal operator intervention , this process aims to present a very viable solution for the reuse robots that are destroyed in factory floor and can be donated to academic institutions to provide study, research and development in robotics. With this, the digital image processing techniques used in this work and a webcam that makes up the computer vision system, which will allow the robotic manipulator perform welds after the identification, location and orientation of a piece on a table without no prior knowledge or any other type of sensor that assists. With the application software for mathematical analysis, algorithms for image processing and path generation, it becomes possible that the robotic manipulator to perform the welding operation on the coordinates obtained after processing of the captured image. The main focus of this research, based on the study of the proposed algorithm is to verify not only the fulfillment of the task of positioning, as well as the robustness against the environment variations, demonstrating that the system presents excellent value for money.