Publication detail

Robotic vision for bin-picking applications of various objects

POCHYLÝ, A. KUBELA, T. KOZÁK, M. ČIHÁK, P.

Original Title

Robotic vision for bin-picking applications of various objects

Type

conference paper

Language

English

Original Abstract

In this paper we present a new experimental work and results regarding the bin-picking problem that has been still a challenging topic in robotic so far. We present a functional solution for the bin-picking problem that has been verified on a variety of objects. Initially, there is presented a pilot project concerned with a picking of standard nuts from a bin. Further, based on interests from automotive industry, we dealt with objects complex in shape (sheet-metal parts). However, the solution is not universal; the whole bin-picking system has to be adjusted according to various object specifications. The whole robotic system is concerned mainly with the end effector eccentrically mounted on the robot flange, the vision system mounted on a movable linear frame and a modified container. Based on this arrangement, we managed to pick 100% of sheet-metal parts from the container. The total cycle time is about 5 s without the auxiliary position and about 15 s with the auxiliary position. The auxiliary position is particularly important for a precise placement of an oriented object into a process station within the whole work flow.

Keywords

robot, machine vision, bin-picking, grasping, manipulation

Authors

POCHYLÝ, A.; KUBELA, T.; KOZÁK, M.; ČIHÁK, P.

RIV year

2010

Released

7. 6. 2010

Publisher

VDE Verlag GMBH

Location

Berlin, Offenbach

ISBN

978-3-8007-3273-9

Book

Proceedings for the joint conference of ISR 2010, 41st International Symposium on Robotics, ROBOTIK 2010, 6th German Conference on Robotics

Pages from

428

Pages to

432

Pages count

5

URL

http://d-nb.info/100284486X

BibTex

@inproceedings{BUT35761,
  author="Aleš {Pochylý} and Tomáš {Kubela} and Martin {Kozák} and Petr {Čihák}",
  title="Robotic vision for bin-picking applications of various objects",
  booktitle="Proceedings for the joint conference of ISR 2010, 41st International Symposium on Robotics, ROBOTIK 2010, 6th German Conference on Robotics",
  year="2010",
  pages="428--432",
  publisher="VDE Verlag GMBH",
  address="Berlin, Offenbach",
  isbn="978-3-8007-3273-9",
  url="http://d-nb.info/100284486X"
}