Vision Systems for a UR5 Cobot on a Quality Control Robotic Station

Piotr Kohut; Kamil Skop

doi:10.20944/preprints202403.0492.v1

Preprint Article Version 1 Preserved in Portico This version is not peer-reviewed

Version 1 : Received: 7 March 2024 / Approved: 8 March 2024 / Online: 8 March 2024 (05:23:29 CET)

The paper delineates the developed vision system of the UR5 cobot and the operating algorithm of the robotic quality control station. The hardware-software architecture of the developed robotic station was shown, consisting of a UR5 cobot equipped with a web camera and a stationary industrial camera with a lighting system. Image processing and analysis algorithms were described, the method of control and communication between the station components was discussed, and two operating scenarios were presented as a single robotic station and a robotic line. Based on the results obtained, the level of measurement noise, accuracy, and repeatability of the developed vision system were estimated.

Cobot UR5; robotic station; quality control; image processing and analysis; object localization; vision-based measurements; camera-robot calibration; Python; OpenCV

Computer Science and Mathematics, Robotics

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Vision Systems for a UR5 Cobot on a Quality Control Robotic Station

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