Design and automation of assembly work-cell, employing uncalibrated eye in hand visual servoing | |
| Author | Vyawahare, Vikram S. |
| Call Number | AIT Thesis no.ISE-05-48 |
| Subject(s) | Manufacturing processes--Automation Assembly-line methods--Automation |
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering, School of Advanced Technologies |
| Publisher | Asian Institute of Technology |
| Series Statement | Thesis ; no. ISE-05-48 |
| Abstract | The first part of the thesis involves selection of process for automation, design and experimental validation of new processes at a very high volume of production plant (3.2 million finished products/week). New work-cell architecture is designed in order to get maximum benefit from the automation. In the next part, this research attempts to examine the eye in hand configuration for visual servoing as a means of adding flexibility to pick and place operations for the assembly work-cell developed. It is researched if a closed loop system using the newest real time image processing hardware. (such as DVT) can be made. State of the art anthromorphic robot arm with a spherical wrist (6 Axis) from Kuka Germany and image processing with a high speed DVT camera is employed for real time feedback. A new algorithm which uses error minimization in the image plane is developed. |
| Year | 2005 |
| Corresponding Series Added Entry | Asian Institute of Technology. Thesis ; no. ISE-05-48 |
| Type | Thesis |
| School | School of Advanced Technologies (SAT) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Afzulpurkar, Nitin V.; |
| Examination Committee(s) | Manukid Parnichkun ;Bohez, Erik L. J. ; |
| Scholarship Donor(s) | Asian Institute of Technology Fellowship; |
| Degree | Thesis (M.Eng.) - Asian Institute of Technology, 2005 |