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Institutional Repository [SANDBOX]
Technical University of Crete
Technical University of Crete
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| URI: | http://purl.tuc.gr/dl/dias/CD148BCB-5065-429F-A40C-F1410E4FF832 | ||
| Year | 2001 | ||
| Type of Item | Peer-Reviewed Journal Publication | ||
| License |
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| Bibliographic Citation | M.M. Kavoussanos ,A D. Pouliezos, "Visionary automation of sack handling and emptying,"IEEE Rob. and Aut. Magazine ,vol. 4,no.4-7 ,pp.44 - 49, 2001. doi:10.1109/100.894032 https://doi.org/10.1109/100.894032 | ||
| Appears in Collections |
Describes an inexpensive yet “intelligent” prototypesystem using vision-guided robotics for depalletizing and emptyingpolyethylene sacks. It uses structured light, and ultrasonics to obtaindepth information. A structure is presented that is designed and builtto minimize costs and increase reliability of the whole system, while atthe same time fully automating the depalletizing and emptying ofpolyethelene sacks. The system is built around a conventional PC thatcarries out the tasks of control, vision, gripping, and faultmonitoring. Simple PID loops are used for the control of all the robotaxes, while an inexpensive vision system is used for the determinationof the orientation of the pallets. A pneumatic gripper is used for thelifting of the sacks. The most probable faults are monitored for andappropriate actions are taken in the event of fault occurrence. In thisway, a form of intelligence is built into the system
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