An Approach to Vision-Based Robotic Systems and Application to Cold Spray Repairs
Date of Award
12-12-2024
Degree Name
M.S. in Electrical Engineering
Department
Department of Electrical and Computer Engineering
Advisor/Chair
Raul Ordonez
Abstract
This paper presents the robotic control vision system used in Cold Spray (CS) repairs. The robot used, is a standard six axis degree of freedom (6DOF) arm to hold the CS system. Show the calibration techniques for the eye to hand vision system. Show how the pictures are analyzed with python code using OpenCV to identify the repairs, and plan the path of the CS. How an industry programmable logic controller (PLC) is used a mediator device between the computer and the robotic controller. The robot then runs a loop to go from repair to repair using the data interpreted by the vision system. This paper will also measure the accuracy of the points found and how accurate the point found are to the point transition to see if this falls in the tolerance of the cameras specifications.
Keywords
Cold Spray, structured light camera, yaskawa, PLC, camera
Rights Statement
Copyright © 2024, author.
Recommended Citation
Glavin, Ryan, "An Approach to Vision-Based Robotic Systems and Application to Cold Spray Repairs" (2024). Graduate Theses and Dissertations. 7473.
https://ecommons.udayton.edu/graduate_theses/7473
