Generating the cutting path of the sheet of metal with visible photogrametric difference of the template and the object for industrial robot with the vision system

Abstract eng:
The subject of the paper is a system which consists of an industrial robot with a v ision system. This system is used to generate a c utting path of the sheet of metal, which is rectangular. The robot is controlled by a computer application that together with a digital camera creates a vision system. The project developed an algorithm that calculates the coordinates of the vertices of the searched object on the basis of straight lines detected by the vision system. The windows application was written in C++. The image processing algorithms were based on OpenCV libraries. The main purpose of the robot is to communicate with the application, receive commands and implement a set trajectory, which depends on the location of the object. The program for industrial robot was written in AS.

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