Kutatás – Sapientia Erdélyi Magyar Tudományegyetem

egyetemi docens

Curriculum vitae: Forgó Zoltán

Publikációs lista: Forgó Zoltán

E-mail: zforgoms.sapientia.ro

 

List of projects

Camera based material handling solution for AAGES SA

The project was realized in cooperation with the AAGES SA, a company for design and manufacturing of standard and customized induction heating machines cells (www.aages.ro). The role of our Department was to facilitate the implementation of a camera based industrial robot application for workpiece transfer between the induction stations. The workpieces were transferred in stacks into de robotized cell, and selected one by one by means of pneumatic manipulator. Afterward the orientation is determined by the camera system connected to the robot controller, so the pneumatic gripper is placed in the right position and orientation to be able to transfer the workpiece to the induction machine, then into a washing machine and to the output stacks. The implemented solution is realized by means of an ABB IRB 4600 with COGNEX vision system, simulated and programmed using RobotStudio.

 

Novel type 2 DoF module for 2, 3, 4 and 6 DoF manipulators

The mechanical setup of the 2DoF mechanism leads to simplicity of the mathematical model, which enables a favorable control algorithm. The mathematical simplicity of the modules is transferred to the overall kinematic and dynamic model of the 4 DoF manipulator, so can be stated, that a new, favorable mechanism configuration is found for pick-and-place applications. The workspace of the manipulator is a compact rectangular prism, and due to the constant transfer matrix (Jacobi matrix) singular configurations are missing inside the workspace. These characteristics are the same as for a portal or Cartesian manipulator, but the novelty is the actuation method which removes the serial topology. The stiffness of the mechanism is the same through the whole workspace.
 

 

Demo project - FANUC M-1iA robot and iRVision systems

This setup was built to teach the students the possibilities of the iRVision camera system of the FANUC robots. Two cubes with different graphical signs are used to simulate two different work pieces. The camera system identifies the work piece and accordingly it is moved on different platforms, to be transferred back on the conveyor.




Demo project – Amazon Picking Challenge on ICRA2015 conference

The aim of the challenge was to identify and transfer according a list, different wares from a shelf. The system was built based on the FANUC LR Mate 200iC, and using the Microsoft Kinect sensor the ware’s position is identified, and grasped with help of vacuum. At the end a bar code check is performed to identify the ware.