The goal of my thesis is to develop an equipment which make easier to programming
I constructed a vacuum gripper which has a camera as well. With that gripper we
can teach some pick and place application to the robot.
For teaching a new application we have to go through some basic steps. First we
have to move the robot to the waiting position, than we need to make an image
about the object which we want to manipulate. The third step is to move the robot
into the pick up position and lastly, we have to move the robot to the deploy position.
In the thesis I used an UR3 robot by Universal Robots which has some advantages.
The Universal Robots give an whole SDK to the developers which contains a lot of
helping scripts and examples. Moreover, the robot can positioned by hand in the
free drive mode so the user do not have to calculate coordinates or understands the
For recognize the object and calculate the position of it we use the camera picture
and run some image recognizer algorithm.
The image processing algorithms are parts of the server program which also responsible
to handle the requests. The clients can give tasks to the server through a
well dened API.
The requests can come from the user program which run on PC and with that
the user can make a new or delete an old camera program.
The third program is run on the robot teach pendant. It is a graphical program.
From that surface the user can start the applications.