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Automatic Glass Pick and Place by Industrial Robot

[+] Author Affiliations
Xiaowen Yu, Yu Zhao, Masayoshi Tomizuka

University of California, Berkeley, CA

Paper No. DSCC2016-9906, pp. V002T25A003; 7 pages
doi:10.1115/DSCC2016-9906
From:
  • ASME 2016 Dynamic Systems and Control Conference
  • Volume 2: Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control
  • Minneapolis, Minnesota, USA, October 12–14, 2016
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5070-1
  • Copyright © 2016 by ASME

abstract

In glass manufacturing industry, glass grinding process has significant involvement of human workers. Human workers need to load and unload glass pieces to/from the grinder. A 6 DOF industrial robot could be used to automate the process by the “pick and place” task. In this paper, a vision system is implemented to robustly detect glass piece location and the placing destination. Two distinct detection methods are used for different glass settings. A “pick and place” trajectory is automatically generated based on the detected locations. A simulation is first performed to visualize robot motion before operating on the robot.

Copyright © 2016 by ASME
Topics: Glass , Robots

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