FIGURE 6 - uploaded by Omey Manyar
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Source publication
In industry, several operations require sheet-like materials to be transported from a loading station to the desired location. Such applications are prevalent in the aerospace and textile industry where composite prepreg sheets or fabrics are placed over a tool or fed to a machine. Using robots for sheet transport operations offers a flexible solut...
Contexts in source publication
Context 1
... overhead 4K camera is auto-calibrated on each frame to account for camera movement over time. This is done by detecting Aruco markers mounted to the corners of the glass but underneath the nylon mesh, see Fig. 6. The glass and robot are mounted to the same table so the glass features stay fixed in the robot frame. Initial robot calibration entails moving the robot Tool Center Point (TCP) to the bottom left corner of each Aruco marker and saving the Cartesian point in the robot frame. These points can then be tied to the Aruco point in pixel ...
Context 2
... The results also characterize the efficiency and rate of convergence of our process, as can be seen from Table. 1, on an average only two Jacobian computations were required for the control loop to converge. Hence, supporting our claim about the proposed process being faster than traditional velocity control based visual servo techniques. Fig. 16 depicts how our system plans the path from an initial misaligned position to the desired placement location. ...
Citations
... A widespread tool in practice is the pick-and-place mechanism, where a conveyor belt is used to get the sheets to the machine unit, and the same sheet is lifted by mechanical means and placed on the past layer. However, the pick-and-place robots are very sophisticated for this purpose, where the arm moves the end effector to grip the sheet and place it in the required location (Manyar et al. 2022). The controller is used to operate the arm's position and movements, keep track of time and monitor the movements of the manipulator. ...
