Diseño e implementación de un sistema pick and place basado con visión artificial para aplicaciones industriales

Abstract

Abstract: The goal of this degree work is the development and implementation of a system for collecting and placing pieces. To achieve this goal, an Epson Scara T3 industrial robotic arm, an Epson CV2 machine vision system, a color camera, a Porten compressor and Epson RC+ 7.0 software will be used. The work focuses on the repetitive movement of the robotic arm, which will take the parts recognized with artificial vision and place them in a specific place in the workspace. The sophisticated Epson RC+ 7.0 software allows the integration of the robotic arm, camera, and compressor systems to achieve the desired end effect. In the same way, some challenges or adversities that arise throughout the development of the work are explained. The algorithm developed with SPel+ language allows the recognition of geometric shapes filtered by color and position. The 2 main operations of the image recognition algorithm are: Geometric and ColorMatch.