Galatasaray University

This work station enables students to integrate vision system with a robot and to study robot kinematics. The workstation includes SCORBOT -ER5 robot mounted on a slide base, a shelf system with 12 cells on 3 rows, a camera system to identify parts and v-scope system equipped with infrared sensors to carry out motion studies. The SCORBOT-ER5 is a vertically articulated robot. Its 5 axes and gripper are driven by DC servo motors with optical encoders; a fixed home on all axes is detected by micro switches. Speed is programmable in increments of 1%. Position repeatability is 0.15 mm (0.006″). v-scope system has 3 towers, 3 emitter buttons, 20 button mounts and a microcomputer. It can track bodies simultaneously in a range 16.4′ (5 m) in each direction. Its resolution is better than 0.02″ (0.5 mm) and has sampling rate (adjustable) max 100 per sec. The vision system includes a black & white camera which provides both still and video images. It also includes interactive imaging software that provides optimized functions for image processing and enhancement, blob analysis, gauging and measurement, and pattern matching. The robot is manipulated with SCORBASE software: a robotics control software package that provides an intuitive tool for programming and operating SCORBOT robotic work cells. The software has several operational levels, each with progressively more functions, making the software suitable for both novice and advanced users. Besides the robot arm, the software supports peripheral servo axes and both digital and analog I/Os, thereby providing a comprehensive tool for programming and operating an entire robotic work cell.