Publication detail
Robotic vision for bin-picking applications of various objects
POCHYLÝ, A. KUBELA, T. KOZÁK, M. ČIHÁK, P.
Czech title
Systém robotického vidění pro bin-picking aplikace: výběr neorientovaných objektů z bedny
English title
Robotic vision for bin-picking applications of various objects
Type
conference paper
Language
en
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.
Czech abstract
Příspěvek popisuje nové experimentální práce a výsledky v rámci řešené problematiky výběru neorientovaných objektů z bedny průmyslovým robotem. V příspěvku je představen plně funkční systém, jehož funkčnost byla ověřena na různých typech objektů. Pilotní výsledky byly dosaženy v rámci uchopování rotačních tvarů – šestihranných matic. Dále byl systém rozšířen i o možnost nasazení na tvarově složité součásti – tvarově ohýbané plechové díly. Systém není nicméně plně universální, vždy je potřeba adaptovat snímací systém na konkrétní díl či objekt. Robotický systém se skládá převážně z koncového efektoru, který je umístěn excentricky na přírubě robotu, snímacího systému umístěném na pohyblivém standu nad objekty a tvarově modifikované průmyslové kontejnery. Celková doba potřebná pro uchopení objektu je cca 5 s (bez mezipozice) a cca 15 s včetně mezipozice pro přesné umístění vybraného objektu do procesní stanice v rámci celého pracovního toku dané součásti.
English 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 in Czech
robot, strojové vidění, bin-picking, uchopování, manipulace
Keywords in English
robot, machine vision, bin-picking, grasping, manipulation
RIV year
2010
Released
07.06.2010
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–to
428–432
Pages count
5
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",
month="June",
pages="428--432",
publisher="VDE Verlag GMBH",
address="Berlin, Offenbach",
isbn="978-3-8007-3273-9"
}