Publication Date

Fall 1995

Degree Type

Master's Project

Degree Name

Master of Science (MS)

Department

General Engineering

First Advisor

D. Khalili

Abstract

A new method for identifying and finding the orientation of an object by using a 2D ID Matrix label is introduced. An Adept robot 550 equipped with vision system will be using the 2D ID Matrix to identify and locate the orientation of an object. Once the identity of an object is known and its orientation is clear, the robot could then pick it up and deliver it to a desired position.

The 2D ID Matrix is a machine-readable symbol capable of storing up to 2000 alphabetic, numeric, and/or special characters in an area ranging from 0.001 square inches to 14 square inches. The label/symbol also covers over 15 international languages and is designed to survive in harsh industrial environments. Decoding the label is done by using an MX 120 controller.

The Adept robot 550 is a four-axis SCARA (Selective Compliance Assembly Robot Arm) with an Adept MV-8 controller. The robot has its own operating system and programming language called V+. All the programming for robot and MX 120 interfacing and the finding of the label's orientation is done by using V+.

"Orientation" refers to how the 2D ID Matrix label/symbol lies in the field of view of the robot's vision system.

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