Motion Planning with Motion Primitives for Industrial Bin Picking

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Motion Planning with Motion Primitives for Industrial Bin Picking

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Motion Planning with Motion Primitives for Industrial Bin Picking

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2017

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

2017 IEEE 22nd International Conference on Emerging Technologies and Factory Automation (ETFA)

ISBN

978-1-5090-6505-9

ISSN

—

e-ISSN

1946-0759

Počet stran výsledku

4

Strana od-do

1-4

Název nakladatele

IEEE

Místo vydání

Piscataway

Místo konání akce

Limassol

Datum konání akce

12. 9. 2017

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

—