<p>This thesis work was done together with SAAB Automobile (Saab) and has investigated how to implement vision based robot systems into Saab's body shop part of the factory (where the car body is mounted together). Vision based robot systems are common in the automotive industry, but not so much in the body shop part of the factory. This thesis work was a continuation of a project where the basics about a camera, Cognex In-Sight 5100, were learned. This camera is a so called smart camera, which means that it can work alone without a computer controlling it. This because it has a small processor built in to the system. The thesis work was solved by looking at an area of an object and compare differences in this area when moving the object. With these differences the accuracy of the camera could be known. The optics, lighting and calibrations were also investigated to learn how to use them best. The work was also to be a part in a team that investigated how to best implement vision based robot systems into Saab's body shop factory. It was members from Saab's factory, professional vision companies and a company that was professionals in the making of jigs and other mechanical inventions. The results from the tests that were made showed that it was important to calibrate the camera right. For example one test was to see how accurate the camera was to guide a gripper to the middle of a beam when having the field of view at the side of the beam. The tests showed that the camera showed wrong in both translation and angle. If both errors were superposed calculated together big errors could occur. The results also showed that this camera system is not advanced enough to handle all different situations that need to be solved in the body shop factory. For example the camera can not take two pictures and then compare them. These functions can be programmed in a PC based vision system where the programmer can program whatever he wants. It is no limitations. The camera that was investigated is best used when it is not too complex solutions. For example it can guide the robot where the accuracy does not need to be very exact.</p>

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