Robotic Label Applicator: Design, Development and Visual Servoing Based Control

摘要

Use of robotic arms and computer vision in manufacture, and assembly process are getting more interest as flexible customization is becoming priority over mass production as frontier industry practice. In this paper an innovative label applicator as end of arm tooling (EOAT) capable of dispensing and applying label stickers of various dimensions to a product is designed, fabricated and tested. The system incorporates a label dispenserapplicator and had eye-in-hand camera system, attached to 6-dof robot arm can autonomously apply a label sticker to the target position on a randomly placed product. Employing multiple advantages from different knowledge basis, mechanism design and vision based automatic control, offers this system distinctive efficiency as well as flexibility to change in manufacturing and assembly process with time and cost saving.