The paper describes the improvement of an automatic machine that dispenses glue on objects placed on a worktop; in particular, the machine was developed to glue the upper and the rubber inserts on the soles of the shoes. The system is characterized by the presence of a vision system which has the purpose of locating the position of the soles lying on the worktop and of reconstructing their geometries. This information is used to plan the trajectory of a Cartesian robot that drives the glue gun with an error that can be considered acceptable for this operation. The paper reports the procedures used to perform these operations which differ depending on whether the sole can be treated as a flat object, characterized by negligible height variations or if it has a three-dimensional geometry with significant variations in height. In the latter case, the gluing path performed by the robot must consider the height variation to keep the glue gun at the same distance from the sole along the entire gluing path. © 2021, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG.

A Smart Gluing Process by a Vision Guided Robotic System / Pagano, S.; Russo, R.; Savino, S.. - 91:(2021), pp. 414-422. (Intervento presentato al convegno IFToMM ITALY 2020 tenutosi a on-line nel 9-10/9/2020) [10.1007/978-3-030-55807-9_47].

A Smart Gluing Process by a Vision Guided Robotic System

Pagano S.
;
Russo R.;Savino S.
2021

Abstract

The paper describes the improvement of an automatic machine that dispenses glue on objects placed on a worktop; in particular, the machine was developed to glue the upper and the rubber inserts on the soles of the shoes. The system is characterized by the presence of a vision system which has the purpose of locating the position of the soles lying on the worktop and of reconstructing their geometries. This information is used to plan the trajectory of a Cartesian robot that drives the glue gun with an error that can be considered acceptable for this operation. The paper reports the procedures used to perform these operations which differ depending on whether the sole can be treated as a flat object, characterized by negligible height variations or if it has a three-dimensional geometry with significant variations in height. In the latter case, the gluing path performed by the robot must consider the height variation to keep the glue gun at the same distance from the sole along the entire gluing path. © 2021, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG.
2021
978-3-030-55806-2
A Smart Gluing Process by a Vision Guided Robotic System / Pagano, S.; Russo, R.; Savino, S.. - 91:(2021), pp. 414-422. (Intervento presentato al convegno IFToMM ITALY 2020 tenutosi a on-line nel 9-10/9/2020) [10.1007/978-3-030-55807-9_47].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11588/820363
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