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An Industry Based Student Project: Implementing A Machine Vision System For Robotic Applications

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2002 Annual Conference


Montreal, Canada

Publication Date

June 16, 2002

Start Date

June 16, 2002

End Date

June 19, 2002



Conference Session

MET Student Design Projects

Page Count


Page Numbers

7.178.1 - 7.178.9



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Paper Authors

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Harley Hammond

author page

Chih-Ping Yeh

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Main Menu Session 2148

An Industry Based Student Project: Implementing A Machine Vision Systems For Robotic Application

Chih-Ping Yeh, Harley Hammond

Wayne State University / Applied Manufacturing Technologies Inc.


This paper describes the details of an industrial based student project at Wayne State University. The objective of this project is to implement a machine vision system for a robot to pick up objects from the conveyer line and place them precisely in the drop-off fixture.

1. Introduction

Engineering Technology education emphasizes practical applications and hands-on experiences. Students in the MSET program at Wayne State University (WSU) are required to take a minimum four credits of Master’s Project (ET-7999). The project requirements emphasize integration and application of knowledge to perform sophisticated tasks in practical industrial problems. The project research may be conducted at WSU or industrial sites.

This paper described a MSET project sponsored by local industry. The purpose of this project was to integrate a machine vision system to allow a robot at a tire rim factory to locate and determine the exact angular orientation of tire rims on the conveyer line shown in Figure 1. This was done so that the robot could pick rims off the line and place them precisely in the drop-off fixture. In order to allow the robot to successfully pick the rims off the conveyer with its gripper, every rim would have to be located within ±3mm. Each rim had a hole drilled somewhere around its perimeter as shown in Figure 2. This hole was required in order to insert the air valve in a later manufacturing operation. It was critical that the air valve hole be located within ±0.5° in order to assure that the protruding air valve stem would be aligned within one of the holes in the disc placed in the center of the wheel. All location operations had to occur within three seconds to maintain the rate of production required by the plant.

This project began by searching for a suitable vision machine system that would fulfill the application requirements. These requirements were a system that was accurate, reliable, maintainable, easy to use and reasonably priced. Once such a vision system was found, it had to be programmed to accomplish the two searches required of it. The robot then had to be programmed to request vision finds, receive and interpret the results, then use the resultant coordinates in production.

2. Selection of Machine Vision System

“Proceedings of the 2002 American Society for Engineering Education Annual Conference & Exposition Copyright Ó 2002, American Society for Engineering Education”

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Hammond, H., & Yeh, C. (2002, June), An Industry Based Student Project: Implementing A Machine Vision System For Robotic Applications Paper presented at 2002 Annual Conference, Montreal, Canada. 10.18260/1-2--11166

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