Programming a six axis motoman HP3C robot for industrial sorting application

Abstract

Industrial systems efficiency often can be improved by replacing human subjects with robotics technology. With the virtue of automation couple with robotics, this picture is gradually being visible. Accurate inspection of a product in its all stages of production has become a very crucial part of the packaging industry. Nearly 100% accurate inspection and detection can be achieved by using high speed camera vision systems coupled with robotic arms. However the investment-to-yield ratio must make sense. In this research the proposed setup of camera vision system along with robotic arm will inspect multiple patterns of defects with slight modification in the inspection system. The impetus of this research originated from a common problem encountered in the manufacturing and packaging industry. Generally, an inspecting conveyor system requires a human operator to visually inspect the part or in case of an automatic detection, the process is limited in its inspecting ability. In case of human operator inspecting process, the operator requires to be trained in the particular inspection criteria as well as the use of precision handtools to determine the defect. This involves training cost, overhead expenditure (higher pay-scale due to training and experience), and other labor fees for a monotonous, repetitive and no-brainer job. In case of existing automatic systems, the detection method is limited and not adoptable to various types of parts and their defects. For packaging industry and its products, quality control is one of the most important steps of manufacturing process. The objective of this research project is to build an automated inspection setup consisting of a high speed camera vision system, an industrial robot, a servomotor controlled conveyor system, and a pneumatic gripper. The control setup will inspect and sort parts based on its acceptability using a high speed machine vision system. In this research project, the inspection system consists of a Motoman (produced by Yaskawa) 6-axis articulated industrial robot, a Cognex[5] high speed camera vision system and a servomotor driven conveyor are replacing an existing error-prone inspection stage that will improve the degree of accuracy by three fold. The proposed inspection system is intelligent enough to recycle parts that are marginally acceptable and worthwhile to be modified as good parts.