PANTOGRAPHY APPLICATION WITH REAL-TIME PLC BASED ON IMAGE PROCESSING IN GANTRY ROBOT SYSTEM

Abstract

Programmable Logic Controllers (PLC) is one of the indispensable productsof automation industry. PLCs, which are widely used in many fields ofprogramming, make our lives easier in daily life. In this study, afterdetermining the coordinates of the image taken from the camera with thehelp of image processing algorithm, the servo drives of cartesian machineare controlled and processed in X-Y plane with Rexroth PLC in real time. Inthis application, it is aimed to obtain the image again by subtracting theboundary coordinates of the image taken with the camera in MatLabenvironment. To achieve this goal, the servo drives of the cartesian machinewere controlled and the application was realized. Two different methodswere applied for the image taken in Matlab environment. The skeleton of theimage was taken for the first method and then the boundary coordinateswere determined. For the second method, the contour of the image was firstextracted. The coordinates of the contour image were not directly used.These coordinates have been tried to be optimized.In this study, it is aimed to draw a desired image by drawing bordercoordinates in Matlab with Rexroth PLC on a cartesian machine. As a resultof the test studies, it was seen that the drawing process was carried outproperly (according to the coordinates received) as a result of the analysisand measurement processes (metric caliper and measurement methods).