Developing a robotic education model by using dijital image processing on flexible manufacturing system

ESNEK ÜRET M S STEM NDEDEVELOPING A ROBOTIC EDUCATION MODELBY USING DIJITAL IMAGE PROCESSINGON FLEXIBLE MANUFACTURING SYSTEM(Ph.D. Thesis)Mehmet TEKEREKGAZ UNIVERSITYINSTITUTE OF SCIENCE AND TECHNOLOGYOctober 2006ABSTRACTThe effective usage of robot systems that incoming modern society life markedlyand similar mechatronic constructions in production systems, their roles withindaily life and in this direction the formation of new areas taken technologicalpoint of view, in this study it is aimed to develop a robotic training model takingcontrol of XR3 which is an experimental educational robot and its equipmentsunder kinematics constrains by means of the colour recognition method atechnique of digital image processing in flexible manufacturing systems.It is stated that processes can be required within flexible manufacturing systemsrecognizing colourful objects in image process area used colour informationperformed by means of six axis an experimental robot manipulator and aconveyor band with logic of flexible manufacturing system constitutemechanical structure of the system.To define moving objects in real space is provided with on image taken withcamera using calibration method developed during the process of this study andprocessing right colour code information.It is developed a software called gazixr3 includes all aims defined within thecontext of study and visual quality that allows making educational experimenton the robot system and it is submitted with this thesis. This structure issubmitted educational material as mathematical side besides providing robot?scontrol within software. In addition to each axis transaction is defined as visualand synchronously. To reach different levels a Turkish robot programminglanguage is developed and added the software.Science Code : 705Key Words : Computer Vision, Image Processing, Robotic Education,Robot Control, Flexible Manufacturing SystemsPage Number : 165Adviser : Prof. Dr. Mehmet EROĞLU