| KRATKA VSEBINA | V članku predstavljamo princip prepoznavanja, pobiranja, odlaganja in sestavljanja elementov lesene otroške hiške. Na kratko želimo predstaviti vzroke problematike robotskega sestavljanja in uporabljene rešitve, ki so pripomogle k rešitvi problematike sestavljanja. Za lažjo predstavo smo izvedli primerjavo uporabljenih rešitev s tistimi, ki se v industriji uporabljajo kot profesionalne rešitve. // Robotics is fast growing area, which achieves full bloom in last teen years. Now days, manipulators are indispensable part in industry. We use them for weld chassis, for steel and wood cultivation, for disperse coloring, steel cutting and so on. Since 1992, for each year, number of robots rapidly increases. Reason for that is their universality, but because of that property, people start initiates them into farms, agricultures, green houses, warehouses, into electronics production for composing electronic components...Today, robots using area expands wide around, specially to ourhomes. Basically view, represent robot as movement machine or automatic machine with more free programmable axels, in some cases in combination with sensors or computer vision. Our system consists with seven basic parts: the first one is operator and then follows programming device, microcontroller, robot hand, grasper, sensor and round movement ribbon. Themain goal of this project is to incorporate all basic parts in to working process for composing elements of woody children house. Second section in this article represents components, which are extremely important when we initiate robotization into industry. Here belong criteria, like choosing real and successful first application, choosing right robot, production speed, time requirements for implement equipment, and complexity of automation. In third section we made case study of hold comparison between human and robot, which is very importantfor understanding, how servofloat function work. Fig. 1 shows round movement riboon, with basic parts on taking away place. Servofloat function isdescribed in session six. Fig. 3 represent barrier on trajectory between step 1 and step 2. With servofloat function can robot avoid this barrier and jump directly over shortest path to step 3. Chapter four give us some information about IR sensor, and basicwork principle for light and dark places recognition. Table 1 shows possible combination, when we recognized parts of house, and Fig.2 shows basic principle of component recognition. Section five describes constructing algorithm procedure, where table 2 and their indicators illustrates course of construction phase. Chapters seven and eight are purposed for discussion about picking up elements from moving round ribbon and taking off the same elements on composing place. In this two sections we try to find answers on our problems, and solve them completely with suggest simple solutions. Fig. 4 under seven section illustrates left side element on round ribbon palette. Fig. 5 is placed in eight section, where illustrates decreasing tolerance between both big side elements. Under samesection, Fig. 6 illustrates cultivated bottom side of the smallest side element. Section 9 concludes the paper. |