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Programming of a Robotic Gantry for Material Position Correction
(Tartu Ülikool, 2025) Palacios Paniagua, Borja; Tartu Ülikool. Loodus- ja täppisteaduste valdkond; Tartu Ülikool. Tehnoloogiainstituut
Robotic gantry systems are essential in automation, offering the precision and adaptability needed for advanced manufacturing. This thesis focuses on programming a robotic gantry system for correcting material positions, an operation critical for ensuring quality in industrial processes like assembly and packaging. The problem arises from the challenge of detecting and aligning materials in real-time, especially given variations in material, lighting, and positioning errors. These issues directly impact the efficiency and reliability of the manufacturing process, necessitating advanced solutions. The proposed work addresses these challenges by leveraging: • A robust machine vision system for detecting material edges and positions accurately. • Kinematic models to calculate corrections in position and orientation. • Calibration methodologies for aligning vision systems with gantry reference frames. The project integrates image processing algorithms and systematic calibration steps to enhance the detection accuracy and system reliability. The work is particularly significant as it aligns with industry trends toward higher precision and automation.