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VISION GUIDED PARALLEL ROBOT AND ITS APPLICATION FOR AUTOMATED ASSEMBLY TASK

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Figure

Fig. 1. Three different sizes of FANUC delta robots – from smallest (left) to biggest one (right): a) M1-iA, b) M2-iA, c) M3-iA [7]
Fig. 3. Screen of Camera Calibration Tool (a) and calibration grid for alignment of camera and robot coordinate system during configuration of iRVision system (b)
Fig. 6. Vision Process Tool “MES1_A1” for the first part: the screen of Web Server after Snap and Find process (a) and the screen of Teach Pendant (b)
Fig. 7. Vision Process Tool “MES1_B2” (a) after Snap and Find and identification of the second part (green border line), “MES1_C2” (b) after identification of the third part and “MES_D2” (c) after identification of the fourth part
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