Sürdürülebilir Kalkınma Amaçları

• 1

• MakaleYalnız künye2023Scopus SJRQ2/r/kostu/10324
  A robust and simple collision avoidance approach for pick and place robot applications

  Deniz, Cengiz

  Purpose: The aim of this study is to create a robust and simple collision avoidance approach based on quaternion algebra for vision-based pick and place applications in manufacturing industries, specifically for use with industrial robots and collaborative robots (cobots). Design/methodology/approach: In this study, an approach based on quaternion algebra is developed to prevent any collision or breakdown during the movements of industrial robots or cobots in vision system included pick and place applications. The algorithm, integrated into the control system, checks for collisions before the robot moves its end effector to the target position during the process flow. In addition, a hand–eye calibration method is presented to easily calibrate the camera and define the geometric relationships between the camera and the robot coordinate systems. Findings: This approach, specifically designed for vision-based robot/cobot applications, can be used by developers and robot integrator companies to significantly reduce application costs and the project timeline of the pick and place robotics system installation. Furthermore, the approach ensures a safe, robust and highly efficient application for robotics vision applications across all industries, making it an ideal solution for various industries. Originality/value: The algorithm for this approach, which can be operated in a robot controller or a programmable logic controller, has been tested as real-time in vision-based robotics applications. It can be applied to both existing and new vision-based pick and place projects with industrial robots or collaborative robots with minimal effort, making it a cost-effective and efficient solution for various industries.

  AtıfScopus3·WoS3·OpenAlex4

  İncele
• MakaleAçık Erişim2022Scopus SJRQ3/r/kostu/10645
  A New Robotic Application for COVID-19 Specimen Collection Process

  Deniz, Cengiz; Gökmen, Gürsel

  Covid-19 manual specimen collection process is too critical for health care workers due to they are able to getting infection from Covid-19-patient during the medical interaction. The purpose of this study, a novel robotic application is developed to achieve automatic specimen collection process for new corona virus (COVID-19). This application is a protection tool for health care workers for the Covid-19 pandemic. This robotic application easily and safely complete the sampling process task and assist to health care workers to prevent infection. The application is basically consist of a collaborative robot (COBOT), base plate, fixtures and a gripper. There are co-operation activities between the COBOT and health care worker to complete all tasks. The robotic application has been tested in the plant health care center as a prototype. The cycle-time (192 sec) for the robotic process needs to be improved. The Manual process is still %60 faster than robotic application. The biggest challenge in this application is patient's mouth and nose physical size changes. Robot movements for the specimen collection in nose and mouth are arranged just based on the fixed point. This needs to be improved according to size changes. Covid-19 specimen collection process with a robotic application has been presented which don't need any health care worker interaction with patient. This application needs to be improved related with above challenges to make a shelf product. It will create valuable impact and save lives in this pandemic.

  • 
  AtıfScopus13·OpenAlex9

  İncele