INFORMATION CHANGE THE WORLD

International Journal of Image, Graphics and Signal Processing(IJIGSP)

ISSN: 2074-9074 (Print), ISSN: 2074-9082 (Online)

Published By: MECS Press

IJIGSP Vol.6, No.4, Mar. 2014

Automating the Process of Work-Piece Recognition and Location for a Pick-and-Place Robot in a SFMS

Full Text (PDF, 432KB), PP.9-17


Views:72   Downloads:0

Author(s)

R. V. Sharan,G. C. Onwubolu

Index Terms

Pick-and-place;Smart flexible manufacturing system (SFMS);Vision system;Image acquisition;Image processing;Shape recognition;Color recognition

Abstract

This paper reports the development of a vision system to automatically classify work-pieces with respect to their shape and color together with determining their location for manipulation by an in-house developed pick-and-place robot from its work-plane. The vision-based pick-and-place robot has been developed as part of a smart flexible manufacturing system for unloading work-pieces for drilling operations at a drilling workstation from an automatic guided vehicle designed to transport the work-pieces in the manufacturing work-cell. Work-pieces with three different shapes and five different colors are scattered on the work-plane of the robot and manipulated based on the shape and color specification by the user through a graphical user interface. The number of corners and the hue, saturation, and value of the colors are used for shape and color recognition respectively in this work. Due to the distinct nature of the feature vectors for the fifteen work-piece classes, all work-pieces were successfully classified using minimum distance classification during repeated experimentations with work-pieces scattered randomly on the work-plane.

Cite This Paper

R. V. Sharan, G. C. Onwubolu,"Automating the Process of Work-Piece Recognition and Location for a Pick-and-Place Robot in a SFMS", IJIGSP, vol.6, no.4, pp.9-17, 2014.DOI: 10.5815/ijigsp.2014.04.02

Reference

[1]R. V. Sharan and G. C. Onwubolu, "Measurement of end-milling burr using image processing techniques," Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture, 225(3), pp. 448–452, 2011.

[2]D. M. Tsai and T. Y. Huang, "Automated surface inspection for statistical textures," Image and Vision Computing, 21(4), pp. 307–323, 2003.

[3]V. G. Narendra and K. S. Hareesh, "Prospects of computer vision automated grading and sorting systems in agricultural and food products for quality evaluation," International Journal of Computer Applications, 1(4), pp. 1–9, 2010.

[4]A. Nagchaudhuri, "Industrial robots and vision system for introduction to flexible automation to engineering undergraduates," Proceedings 2002 Japan-USA Symposium on Flexible Automation, Hiroshima, Japan, July 14–19 2002.

[5]A. Nagchaudhuri, S. Kuruganty, and A. Shakur, "Mechatronics education using an industrial SCARA robot," Proceedings of the 7th Mechatronics Forum International Conference and Mechatronics Education Workshop (Mechatronics 2000), Atlanta, Gerogia, September 2000.

[6]A. Nagchaudhuri, S. Kuruganty, and A. Shakur, "Introduction of mechatronics concepts in a robotics course using an industrial SCARA robot equipped with a vision sensor," Mechatronics, 12(2), pp. 183–193, 2002.

[7]G. C. Onwubolu, S. Aborhey, R. Singh, H. Reddy, M. Prasad, S. Kumar, and S. Singh, "Development of a PC-based computer numerical control drilling machine," Proceedings of Institute of Mechanical Engineers, Part B: Journal of Engineering Manufacture, 216(11), pp. 1509–1515, 2002.

[8]S. Kumar and G. C. Onwubolu, "A roaming vehicle for entity relocation," In: D. T. Pham, E. E. Eldukhri, and A. J. Soroka (eds), Intelligent production machines and systems, Oxford: Elsevier, pp. 135–139, 2005.

[9]S. P. Lal and G. C. Onwubolu, "Three tiered web-based manufacturing system - part 1: system development," Journal of Robotics and Computer-Integrated Manufacturing, 23(1), pp. 138–151, 2007.

[10]R. V. Sharan, "A vision-based pick-and-place robot," Thesis for Master of Science (MSc) in Engineering, University of the South Pacific, Suva, Fiji, 2006.

[11]R. V. Sharan and G. C. Onwubolu, "Development of a vision-based pick-and-place robot," Proceedings of the 3rd International Conference on Autonomous Robots and Agents (ICARA), Massey University, Palmerston North, New Zealand, pp. 473–478, 12-14 December 2006.

[12]R. V. Sharan and G. C. Onwubolu, "Client-server control architecture for a vision-based pick-and-place robot," Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture, 228(8), pp. 1369–1378, 2012.

[13]R. C. Gonzalez, R. E. Woods, and S. L. Eddins, "Digital image processing using MATLAB, " Prentice Hall, New Jersey, 2004.

[14]Mathworks, "Image processing toolbox for use with MATLAB," User's Guide, Version 5, The Mathworks Inc., Natick, MA, 2004.

[15]N. A. Otsu, "Threshold selection method from gray-level histograms," IEEE Trans. Systems, Man, and Cybernetics, 9(1), pp. 62–66, 1979.

[16]G. W. Awcock and R. Thomas, "Applied image processing," McGraw Hill, 1996.

[17]R. C. Gonzalez and R. E. Woods, "Digital image processing, 2nd Edition, Pearson Prentice Hall," New Jersey, 2002.

[18]A. K. Jain, "Fundamentals of digital image processing," Prentice Hall, New Jersey, 1989.

[19]S. J. Sangwine and R. E. N. Horne, "The color image processing handbook," Chapman and Hall, London, 1998.

[20]D. F. Rogers, "Procedural elements of computer graphics, 2nd Edition," McGraw Hill, New York, 1997.

[21]A. K. Jain, R. P. W. Duin, and J. Mao, "Statistical pattern recognition: a review," IEEE Transactions on Pattern Analysis and Machine Intelligence, 22(1), pp. 4–37, 2000.