Increasing the positioning accuracy of an Automated Guided Vehicle (AGV) within a workshop and coordinating with an UR robot positioning

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Nagy Ákos
Department of Automation and Applied Informatics

This thesis is related to the development of the smart model production system at the research site of MTA SZTAKI in Győr, in accordance with the principles of Industry 4.0. The first part deals with positioning solutions and options for Automated Guided Vehicle operating in the automated material supply system, while the second part of the task is about determining the positioning system of the UR robot mounted on the AGV.

The first part begins with a general overview of the installed camera system in the lab, the applied UWB technology, and other positioning solutions elsewhere. The paper then deals with the reading and processing of the SICK laser sensor contours, which was originally used in the life protection system, the possibilities of mapping the environment and the potential use of this data in the AGV positioning system. The end of the first topic analyzes the combined use of multiple sensor data, the methods and possibilities to amplify each other in a complex sensor fusion algorithm and provides measurements to suggest further development directions.

The beginning of the second part introduces the technical parameters, programming and application possibilities of the 6 DoF UR3 collaborative robot arm that can be fitted to the AGV. Depending on the features of the system, the position and orientation error after docking needs to be corrected for successful part handling tasks. One of the possible solutions to this problem is a fix camera placed on the workstation, then image processing can be used to accurately determine the position of the robot. This method allows the two subsystems to be coordinated, so the autonomous guided vehicle and the collaborative robot arm can carry parts between different workstations.


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