| dc.description.abstract | With the development of Industrial Automation and Smart Manufacturing, robotic arm gradually replaces the manual work for processing and assembly, while the laser processing is based on the X-Y platform or Gantry platform. If using robotic arm for laser processing. we can get more flexibility for processing. Digital image is saved in 2-D bitmap format, which is easy to be transformed into X-Y coordinate processing code. However, in order to take advantage of the structure of robotic arm, we transform the 2-D bitmap into polar coordinate processing code, and design the processing algorithm based on the structure of robotic arm.
The robotic arm we used in this research is the Palletizing Robot developed by our laboratory, which is controlled by the STM32 microcontroller. We also design the user interface for controlling the robot arm, image pre-processing and processing code generation.
We test the accuracy of the speed of robot arm, test the result of the binarized image and the edge-detected image, and finally test the difference between the polar coordinate processing algorithm and the traditional X-Y coordinate processing algorithm.
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