Application Of Inertia Moments For Improving The Quality Of Dimensional Control In Flexible Production

The article presents a way to improve the quality of control of product dimensions by robotic systems in flexible manufacturing. The image of the object's side is essentially a flat closed single-contour or multi-contour shape. In this case, the process of recognizing an object located arbitrarily in space can be reduced to recognizing several flat shapes located arbitrarily in space by comparing the resulting image with a reference. This method is based on the use of moments of the second and third order of product images and allows you to determine their spatial orientation. The equations obtained during the research are a system of seven equations with four unknowns. Solving this system by using graphical-analytical method recieve the groups of values of rotation angles and scale. Recognition is performed by turning the reference image of the product side to the calculated angles α, β, γ, adjusting the m scale and directly comparing the resulting image with the recognized one. That is, after preliminary calculations, the enumeration of all possible positions is limited to several positions. If in any of the new positions of the reference the images coincide, then it is concluded that the recognized image of the product side corresponds to the reference one. In this case, the values α, β and γ determine its orientation in space, and the value of M is the distance from the center of the image to the organ of vision. The results of the computer simulation have confirmed the effectiveness of the proposed recognition method. Thus, using the system of equations obtained by the authors, the dependence of the change in the moments of inertia of a flat figure when it is randomly located in space, it is possible to simultaneously make recognition and spatial orientation and distance to the object. In this case, recognition will be performed in a fixed time, which will increase the efficiency of robotic systems. This system of equations can be used in flexible automated production to clarify the spatial position of workpieces and the distance to them entering the working area of the processing or Assembly machine. It can also be used in Autonomous mobile robots to search for objects on the ground..