Abstract:
This paper presents the development and laboratory experiments on a six-degree-of-freedom robotic arm model that does a specific pick and place process and could be used at low cost in a specific industrial application at ALUMIL Aluminium Industry SA. The robotic arm cooperates with an optical vision system which measures the cutting length dimension of the objects. The robotic arm first picks up a saw-cut object and transports it in front of the vision system's camera to be measured. If the object is found out of tolerance, then the arm receives the measured object to transport it to a scrap point. If the object is found within bounds, then the arm receives the object to move it to another point to continue its process in the next stage. Laboratory experiments showed that the model of the robot-vision system works satisfactorily in terms of cooperation with vision system and execution of ten cycles, but future improvement in measurement accuracy is needed for the camera to recognize millimeter differences. Also, vibrations occurred in the robot body during the ten cycle paths due to the low speeds and the material it is made of, resulting bad accuracy and repeatability.
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