Motion Planning with Motion Primitives for Industrial Bin Picking

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F17%3A00315217" target="_blank" >RIV/68407700:21230/17:00315217 - isvavai.cz</a>
Result on the web
<a href="http://ieeexplore.ieee.org/document/8247759/" target="_blank" >http://ieeexplore.ieee.org/document/8247759/</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ETFA.2017.8247759" target="_blank" >10.1109/ETFA.2017.8247759</a>

Result language
angličtina
Original language name
Motion Planning with Motion Primitives for Industrial Bin Picking
Original language description
In the bin picking problem, the task is to automatically unload objects from a container using a robotic manipulator. The task is often approached by organizing the objects into a predictable pattern, e.g., a workpiece carrier, in order to simplify all integral subtasks like object recognition, motion planning and grasping. In such a case, motion planning can even be solved offline as it is ensured that the objects are always at the same positions at known times. However, there is a growing demand for non-structured bin picking, where the objects can be placed randomly in the bins. This arises from recent trends of transforming classical factories into smart production facilities allowing small lot sizes at the efficiency of mass production. The demand for fast and highly flexible handling and manipulation abilities of industrial robots requires to solve all the bin picking methods, including motion planning, online. In this paper, we propose a novel technique for fast sampling-based motion planning of robotic manipulators using motion primitives. Motion primitives are short trajectories that boost search of the configuration space and consequently speed up the planning phase. The proposed work has been verified in a simulation and on a prototype of a bin picking system.
Czech name
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Czech description
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Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2017
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
2017 IEEE 22nd International Conference on Emerging Technologies and Factory Automation (ETFA)
ISBN
978-1-5090-6505-9
ISSN
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e-ISSN
1946-0759
Number of pages
4
Pages from-to
1-4
Publisher name
IEEE
Place of publication
Piscataway
Event location
Limassol
Event date
Sep 12, 2017
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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