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Flexible cobot system for inspection of complex aerospace parts
University West, Department of Engineering Science, Division of Production Systems.
2020 (English)Independent thesis Advanced level (degree of Master (Two Years)), 10 credits / 15 HE creditsStudent thesis
Abstract [en]

To address the need for flexible solutions with regards to inspection processes, the suitability of using a MIR200 Automated Guided Vehicle (AGV) to position a UR10e robot equipped with visual inspection equipment was evaluated. It was shown that the positional repeatability of the system was higher than the stated repeatability of the MIR200 docking station. The inherent drawbacks of the introduced flexibility were also explored. Namely the loss of stability of the robot, requiring more time a movement command to become stable. Finally, computer programs to perform automatic visual inspection of an aerospace part was created and demonstrated in conjugation with the AGV/Robot image capture setup. Complex geometrical feature of an aerospace component was inspected using an optical area camera. Images acquired with the camera mounted from multiple angles were combined for the inspection task. Machine vision tools was used to determine component position and to evaluatethe component features with image processing tools. The inspection processes with toolsdeveloped within the scope of the thesis were demonstrated successfully and defects segmented based on image data from real components.

Place, publisher, year, edition, pages
2020. , p. 31
Keywords [en]
Automation, Robotics, Surface defects, AGV, Cobot
National Category
Robotics and automation
Identifiers
URN: urn:nbn:se:hv:diva-15542Local ID: EXC915OAI: oai:DiVA.org:hv-15542DiVA, id: diva2:1455266
Subject / course
Robotics
Educational program
Master i robotik och automation
Supervisors
Examiners
Available from: 2020-07-24 Created: 2020-07-23 Last updated: 2025-02-09Bibliographically approved

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CiteExportLink to record
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