Integration of Vision Based Assembly On Servopneumatic Cartesian Manipulator

Abstract

In this study, the vision aided robotic system is used to sense the parts within the workspace and then to perform the appropriate manipulations to complete the assembly operations. Image processing was done by using IMAQ Vision software operating under National Instruments LabVIEW package. The gray scale image of the part obtained from the camera and the recognition is generated by a matching algorithm. The position of the Cartesian system is controlled by servo-pneumatic actuators while the feedback data is obtained from linear encoders. A LabVIEW based interface is developed to run the real time controls algorithm on a data acquisition card communicating the protocols to the system.