A Novel Technique Of 3D Robot Vision System Through 2D Shape Based Matching Approach For Gluing Application

Harun, Mohamad Haniff and Hj Azlan, Umar Al-Amani and Mohd Aras, Mohd Shahrieel and Mohd Annuar, Khalil Azha and Omar, Noor Irinah and Mohd Ab Halim, Mohd Firdaus (2018) A Novel Technique Of 3D Robot Vision System Through 2D Shape Based Matching Approach For Gluing Application. Project Report. Universiti Teknikal Malaysia Melaka, Melaka,Malaysia. (Submitted)

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Abstract

A Robot Vision System (RVS) is an adaptive and dynamic system that caters to a wide range of jobs where each involves a set of operations required to be done at a predetermined workstation.This research is focused on the development of a vision system to be integrated with KUKA arm robot.Pyramid object is used as a complimentary of the windscreen car as a model.It developed using plain cardboard with dimension of 15cm x 15cm.2D matching application introduced to identify the characteristic of the object used in the system using CCD camera.Object used must be trained in training phase to create object template and used again in recognition phase for object classification.Then, two CCD cameras are used;placed at the top and front of the object to extract object's edge location using Harris Point. Data extracted from it are used to find 3D coordination of each edge.Equation of straight line mostly used in this method to identify x,y and z coordinates.Data obtained from the system then used to give instruction to KUKA arm robot for gluing purposes.Pixel coordinates must be converted to robot coordinates for easier understanding by the robot. Three types of defect are trained as model templates and save to the memory known as bumper,gap and bubble defect. Each defect has special characteristic.Inspection system developed to identify problems occurs in gluing process. Template matching method used to call model trained in training phase to identify the uncertainties.Each defects occur comes with its coordinate's information for further operation.This system has been designed to work with a commercial image processor which can process data from a set of multi-camera application setup to provide sufficient information on the features of the subject that being process for a robot controller.

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