Design and Implementation of Pick and Place Manipulation System for Industrial Automation

摘要

This work presents an autonomous pick and pack system for industrial applications consisting of a 4-DOF (degree-of-freedom) robotic manipulator and the vision perception. The system is capable to detect and capture products/materials from a production line and place them in a packaging box one at a time. The final placement of the object in the box is carried out with the desired orientation. The adopted configuration of the manipulator is RRPR equipped with an electromagnetic end-effector. Inverse kinematics approach is used to determine the end-effector motion sequence in order to reach the desired locations within the workspace. The manipulator is equipped with Feetech SC servo motor with built-in PID controller at each joint to achieve precise motion of joint angles. An RGB camera is mounted right above the conveyer belt to capture the region of interest in the environment. Captured image is further preprocessed by image processing techniques. Region properties is used to extract the orientation of the object. Arduino Mega 2560 is used as a control board for motors and an interface with the PC. A graphical user interface (GUI) is developed in MATLAB to monitor and control the end-to-end pick and pack system featuring both manual and automatic modes.