| dc.description.abstract | This master thesis studies the operation of SCARA robot to perform a vision recognition and pick-and-place screws and nuts spread on a vibrating surface or a running conveyor belt. First, a lot of screws and nuts are spread on black flat surface, the robot can recognize the location and size of each screw or nut, then pick each one and place it into a specific box. If some screws or nuts are overlapping or stacking, then it is hard to recognize the correct location and size of each object. In order to solve this problem, a vibrating surface is designed to replace the flat surface such that screws or nuts can be separated because of vibration surface. When the screws or nuts are put on a running conveyor belt, the robot still can achieve the pick-place operation with the aids of the calculation of the running speed of the conveyor belt. Based on the industrial camera’s frequency-acquisition technique and shifting positions of the image, the running speed can be calculated. Then design the motion process of the robot such that the robot can catch the timing for achieving the works picking and placing. Finally, there are two successful experiments: picking and placing screws and nuts in a vibration surface and in a running conveyor belt, respectively, are shown. | en_US |