Automatic detaching methodology of metal sheet components after laser cut process

This thesis is a part of industry project aimed to automate detaching and sorting metal sheet components after laser cut. Geometrical centroids of components can be outside of their shapes; it may cause problems for robot that is removing them from metal sheet. Focus of this work is to find a suitable grasping point that is located within the shape. Key parameters such as center of mass, principal inertia axes and medial axis are analyzed. Practical solutions are investigated based on key parameters. Maximum inscribed circle inside polygon using Voronoi diagram methodology is chosen to solve grasping point problem. Solution is implemented in Matlab and results are tested on the Universal Robot 3.