Detail publikace

Robotic vision for bin-picking applications of various objects

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

Originální název

Robotic vision for bin-picking applications of various objects

Typ

článek ve sborníku ve WoS nebo Scopus

Jazyk

angličtina

Originální abstrakt

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.

Klíčová slova

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

Autoři

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

Rok RIV

2010

Vydáno

7. 6. 2010

Nakladatel

VDE Verlag GMBH

Místo

Berlin, Offenbach

ISBN

978-3-8007-3273-9

Kniha

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

Strany od

428

Strany do

432

Strany počet

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"
}