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SIIA Público
SISTEMA INTEGRAL DE INFORMACIÓN ACADÉMICA - PÚBLICO
Título del libro: Ieee Ica-Acca 2018 - Ieee International Conference On Automation/23rd Congress Of The Chilean Association Of Automatic Control: Towards An Industry 4.0 - Proceedings Título del capítulo: Robotic Vision Assembly using FPGA
An artificial vision system based in the BOF method implemented in a
FPGA device is presented to locate and recognize rigid work pieces
within an experimental workspace area, previous location is not known by
a manipulator robotized element in order to grasp it and perform an
assembly process (peg in hole) in real time. As the processor element a
Nexys 4 development electronic FPGA card is used with Hardware
Description Language (HDL) platform for its programming, and the OV7670
camera from OmniVision is used as the imaege acquisition device. Data is
acquired, conditioned and processed to get information about location
and feature recognition characteristics for the assembly process within
an experimental manufacturing cell environment containing an educative
robot manipulator of 6DOF. Two methods were used for comparison results
resulting 50% success assembly for the first one when only using
primitive descriptors of area an centroid and 96% success when BOF
method was using. An assembly process was performed integrating the
method in a single FPGA device. Having performed real time image
acquisition and processing actions, the results shows the possibility of
using this method for concurrent and fast assembly applications.
Entidades citadas de la UNAM:
Fuente:
ISBN: 9781538655863 Editorial: Institute of Electrical and Electronics Engineers Inc.
