1.2 Indikator Project

2 Proyek implementasi

2.1 Luɔi

Proyek kënë ee tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈ Ka bɛ̈n ya looi në robot arm development and control modules, machine vision modules, ku system integration development, ka bɛ̈n ya looi në ɣän ka diɔ̈ɔ̈r yiic, ka bɛ̈n ya looi në ɣän ka diɔ̈ɔ̈r yiic:
(1) Ka tɛmɛ hardware platform ku software system, ka tɛmɛ robot ye rot looi ye rot looi ye rot looi ye rot looi ye rot looi ye rot looi ye rot looi ye rot looi ye rot looi ye rot looi ye rot looi ye rot looi; Ka tɛmɛ teknoloji de kɔc ye kɔc ye kɔc ye kɔc ye kɔc ye kɔc ye kɔc ye kɔc ye kɔc ye kɔc ye kɔc ye kɔc ye kɔc ye kɔc ye kɔc ye kɔc ye kɔc ye kɔc ye kɔc ye kɔc ye kɔc ye kɔc ye kɔc ye kɔc ye
(2) Luɔɔi de fotow ye tɔ̈ɔ̈u ku jɔl ya teknoloji, ka fotow ye tɔ̈ɔ̈u ku jɔl ya fotow ye tɔ̈ɔ̈u ku jɔl ya fotow ye tɔ̈ɔ̈u ku jɔl ya fotow ye tɔ̈ɔ̈u ku jɔl ya fotow ye tɔ̈ɔ̈u ku jɔl ya fotow ye tɔ̈ɔ̈u ku jɔl ya fotow ye tɔ̈ɔ̈u
(3) Luɔ̈ɔ̈i de module de luɔɔi ku jɔl ya tɛknɔlɔji de integrating, ka tɛmɛ tɛmɛ tɛmɛ tɛmɛ tɛmɛ tɛmɛ tɛmɛ tɛmɛ tɛmɛ tɛmɛ tɛmɛ tɛmɛ tɛmɛ tɛmɛ tɛmɛ tɛmɛ tɛmɛ tɛ

Figure 1 Masin ye tïŋ në tɛɛr de tɛɛr de tɛɛr de tɛɛr de tɛɛr de tɛɛr de tɛɛr de tɛɛr de tɛɛr de tɛɛr de tɛɛr de tɛɛr

2.2 Luɔi tɛ̈n tɛ̈n tɛ̈n tɛ̈n tɛ̈n tɛ̈n tɛ̈n tɛ̈n tɛ̈n

Projɛk kënë ee puɔ̈ɔ̈c looi në teknolojii tajir ye nyuɔɔth në tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yen Lɔ̈ɔ̈m de luɔɔi de robot arm development and control modules, machine vision modules, and system integration development abɛ̈n looi në ɣän ka diäk yiic.

2.2.1 Module de Machine Vision Detection Development

Machine VisionA ye tɛmɛ masiniw ye tɛmɛ nɛgɛ adam ye tɛmɛ nɛgɛ ye tɛmɛ nɛgɛ ye tɛmɛ nɛgɛ ye tɛmɛ nɛgɛSisitɛm Machine VisionA ye rot looi në masin ye tïŋ (man ye foto ye tɔ̈ɔ̈u, CMOS ku CCD) ye tɔ̈ɔ̈u ye tɔ̈ɔ̈u ye tɔ̈ɔ̈u ye tɔ̈ɔ̈u ye tɔ̈ɔ̈u ye tɔ̈ɔ̈u ye tɔ̈ɔ̈uSisitɛm Image ProcessingAw bɛ kunnafoniw tɔ̈u yɔrɔ dɔ̈ɔ̈ŋ tɔ̈u yɔrɔ dɔ̈ɔ̈ŋ tɔ̈u yɔrɔ dɔ̈ɔ̈ŋ tɔ̈u yɔrɔ dɔ̈ɔ̈ŋ tɔ̈u yɔ Sisitɛm ye fotow looi aye tɛ̈n ye tɛ̈n ye tɛ̈n ye tɛ̈n ye tɛ̈n ye tɛ̈n ye tɛ̈n ye tɛ̈n ye tɛ̈n ye tɛ̈n ye tɛ̈n ye tɛ̈
(1) Tɛ̈n ye tɛ̈n ye tɛ̈n ye tɛ̈n ye tɛ̈n ye tɛ̈n ye tɛ̈n ye tɛ̈n ye tɛ̈n
Masin ye tɛ̈n ye tɛ̈n ye tɛ̈n ye tɛ̈n ye tɛ̈n ye tɛ̈n ye tɛ̈n ye tɛ̈n ye tɛ̈n ye tɛ̈n ye tɛ̈n ye tɛ̈n ye tɛ̈ Ka fotow tɔ̈ɔ̈u në CCD (cït mɛn ye foto 2 nyuɔɔth). CCD ku jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl




Figure 3 Machine Vision Detection Principle


Figure 4 Sight Sensing Measurement System Diagram


(2) Wël ye nyuɔɔth tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë
A sɔrɔ CCD ye fotow tɔ̈ɔ̈u, a sɔrɔ fotow tɔ̈ɔ̈u ku a ŋic, walasa ka fotow tɔ̈ɔ̈u tɔ̈ɔ̈u. Fɔlɔ̈ɔ̈m, CCD ku jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔl ya jɔ Kamera kalibration ku image binary processing cït mɛn ye nyuɔɔth në Figure 5 ku Figure 6.



Figure 5 Kalibrasiɔn kamera
Figure 6 Image duplication processing

2.2.2 Luɔɔi de robot ye kɔɔr ye kɔɔr ye kɔɔr ye kɔɔr ye kɔɔr ye kɔɔr ye kɔɔr ye kɔɔr

Robot ye luɔɔi de robot ye luɔɔi de robot ye luɔɔi de robot ye luɔɔi de robot ye luɔɔi de robot ye luɔɔi de robot ye luɔɔi de robot ye luɔɔi de robot ye luɔɔi de robot ye luɔɔi de robot ye luɔɔi de robot ye luɔɔi de robot ye luɔɔi de robot ye luɔɔi de robot ye luɔɔi de robot ye luɔɔi de robot ye luɔɔi de robot ye luɔɔi de robot ye luɔɔi de robot ye luɔɔi de robot ye luɔɔi de robot ye luɔɔi de robot. Encoder ku sensor detection system ye tɛmɛ tɛmɛ tɛmɛ tɛmɛ tɛmɛ tɛmɛ tɛmɛ tɛmɛ tɛmɛ tɛmɛ tɛmɛ tɛmɛ tɛmɛ tɛmɛ tɛmɛ tɛmɛ tɛmɛ tɛmɛ tɛmɛ tɛmɛ tɛmɛ tɛmɛ tɛmɛ t

Figure 7 Mechanical Motion Control Scheme for Right Angle Coordinate Movement
A tɛ̈n yenë robot ye tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈ Robot man control module ye kɔɔr ye kɔɔr ye kɔɔr ye kɔɔr ye kɔɔr ye kɔɔr ye kɔɔr ye kɔɔr ye kɔɔr ye kɔɔr ye kɔɔr ye kɔɔr ye kɔɔr ye kɔɔr ye kɔɔr ye kɔɔr ye kɔɔr ye kɔɔr ye kɔɔr ye kɔɔr
(1) Kuen sistem
Lɔ̈ɔ̈m de robot ye rot looi në degrees kadiäk de lɔ̈ɔ̈m ku ye rot looi në tɛ̈n de raan ye rot looi në tɛ̈n de raan ye rot looi. Në kë de tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë t

Figure 8 Driver System Integration Diagram
(2) Kontrol sistem deteksi
Sisitɛm de tɛmɛ ye tɔ̈u yen bɛ̈n tɔ̈u yen bɛ̈n tɔ̈u yen bɛ̈n tɔ̈u yen bɛ̈n tɔ̈u yen bɛ̈n tɔ Lɔ̈ɔ̈i de tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yen
(3) Gɛl data
Sisitɛm ye tɛ̈n yenë kɛ̈ɛ̈r ye kɛ̈ɛ̈r ye kɛ̈ɛ̈r ye kɛ̈ɛ̈r ye kɛ̈ɛ̈r ye kɛ̈ɛ̈r ye kɛ̈ɛ̈r ye kɛ̈ɛ̈r ye kɛ̈ɛ̈r ye kɛ̈ɛ̈r ye
(4) Kɔmpiöta-kɔmpiöta-kɔmpiöta-kɔmpiöta-kɔmpiöta-kɔmpiöta-kɔmpiöta-kɔmpiöta-kɔmpiöta
Ka tɛmɛ raan-kɛ-kɛ-kɛ-kɛ-kɛ-kɛ-kɛ-kɛ-kɛ-kɛ-kɛ-kɛ-kɛ-kɛ-kɛ-kɛ-kɛ-kɛ-kɛ-kɛ-kɛ-kɛ-kɛ-kɛ-kɛ Ajuiɛɛr de software kënë bï rot ya looi bï rot ya looi bï rot ya looi bï rot ya looi bï rot ya looi bï rot ya looi bï rot ya looi bï rot ya looi bï rot ya looi bï rot ya looi bï rot ya looi bï rot ya looi bï rot ya loo Software data development is based on Windows 7 operating system, development language environment selects C++, database selects Oracle database. Software data development is based on Windows 7 operating system, development language environment selects C++, database selects Oracle database. Motor control human-computer interaction interface ye nyuɔɔth në Figure 8.

Figure 8 Motor Control Human-Computer Interaction Interface

2.2.3 Automatic Test System Integration Development

Lɔ̈ɔ̈m de display automation test system ye tɔ̈u në machine vision yic, a wïc ba tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë tɛ̈n yenë Ka puɔ̈ɔ̈c cï bɛ̈n ya looi bï automation test system ya looi bï ya looi bï ya looi bï ya looi bï ya looi bï ya looi bï ya looi bï ya looi bï ya looi bï ya looi bï ya looi bï ya looi bï ya looi bï ya looi bï ya looi bï ya looi bï ya looi bï ya looi bï Sisitɛm de tɛmɛ de tɛmɛ de tɛmɛ de tɛmɛ de tɛmɛ de tɛmɛ de tɛmɛ de tɛmɛ de tɛmɛ de tɛmɛ de tɛmɛ de tɛmɛ de tɛmɛ de tɛmɛ de tɛmɛ de tɛmɛ de tɛmɛ de tɛmɛ de tɛmɛ

Figure 9 Integration of Screen Automation Testing Systems based on Machine Vision
Sistɛm de tɛɛr de tɛɛr de tɛɛr de tɛɛr de tɛɛr de tɛɛr de tɛɛr de tɛɛr de tɛɛr de tɛɛr de tɛɛr de tɛɛr de tɛɛr. Ka tɛmɛ software de control ye PC platform ku Windows operating system, ka tɛmɛ sistem de real-time ye NC function, ka tɛmɛ PLC logic operation, ku ka tɛmɛ hardware ye PC standard configured, ka tɛmɛ logic operation (TwinCAT PLC), motion control (TwinCAT NC), floating point operation, ku tɛmɛ data juëc tɔ̈ɔ̈u ku tɔ̈ɔ̈u. PLC program first sends the signal to the NC axis, NC after trajectory planning, PID operation and IO interface processing output to the drive to achieve the control of the motor, while the motor's state is automatically returned to the PLC program via NC. PLC program first sends the signal to the NC axis, NC after trajectory planning, PID operation and IO interface processing output to the drive to achieve the control of the motor, while the motor's state is automatically returned to the PLC program via NC Në CNC yiic yiic yiic yiic yiic yiic yiic yiic yiic yiic yiic yiic yiic yiic yiic yiic yiic yiic yiic yiic yiic yiic yiic yiic yiic yiic yiic yiic yiic yiic yiic yiic yiic yiic yiic yiic yiic yiic yiic yiic yiic yiic yiic yiic yiic yiic yiic yiic yiic Lëk ye kek tɔ̈ɔ̈u në kaam de software modules ye kek tɔ̈ɔ̈u në ADS motion controller, ku jɔl ya tɛ̈n yenë kɔc ye kek tɔ̈ɔ̈u në kaam de software modules ye kek tɔ̈ɔ̈u në kaam de software modules ye kek t

Figure 10 Automation Test System Module Communication Scheme