Abstract:
Robot manipulator systems are used in an industrial automation system to minimize
human e ort or involvement and increase product or service quality. Generally, auto-
mated robot systems are used to perform material handling, assembly operations, and
quality inspection of the manufacturing system to achieve better performance in the
precision, accuracy, and production rate of the continuous operation. In the injection
molding industry, the surface quality of the output product is critical for producing a
high-quality product. The surface scanning method is a common method for inspecting
product surface quality. Most of the existing scanning methods need to identify and
place the object in a xed and known position to do quality scanning. In this research,
we proposed a method of using a 4 DoF robot manipulator to move the scanner to
get a quality surface scanning output for injection-molded products which are moving
on a conveyor. Robot manipulator path planning is one of the main objectives of the
research. The movement of the robot's end-e ector must change depending on the
object's orientation. The object image feature extraction method is used to determine
the orientation of the object.The angle value's maximum accuracy ranges from +50 or
-50 .The robot's end e ector angle is changed according to the measured orientation of
the object. The robot end e ector is required to follow the object without any relative
speed on the conveyor and maintain the absolute maximum speed to achieve an ef-
fective scanning output.According to experimental results, the optimal conveyor speed
is 10cms-1.The speed control system is used to maintain the conveyor speed without
any external disturbance and measure the speed, and it is fed to the robot system to
maintain the relative speed of the conveyor. The distance between the scanner and the
object is measured using an ultrasonic sensor. This sensor feeds the distance to the
system, and the distance helps to maintain the path trajectory and takes into account
the quality of the scanning output. A portable 3D scanner, the Quanser Kinova 4
DoF robot arm, and the MATLAB Simulink platform are being used to simulate the
proposed system.According to the results, the conveyor speed was set at 10 cms-1 and
the robot end e ector moved on the trajectory based on the object orientation angle.
Citation:
Weerasekara, D.R.B.K.K. (2021). Path planning of a robotic manipulator for 3D scanning of moving object on a conveyer [Master's theses, University of Moratuwa]. Institutional Repository University of Moratuwa. http://dl.lib.uom.lk/handle/123/20776