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Distributed Motion Planning for Industrial Random Bin Picking

Identifikátory výsledku

  • Kód výsledku v IS VaVaI

    <a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F18%3A00345623" target="_blank" >RIV/68407700:21230/18:00345623 - isvavai.cz</a>

  • Výsledek na webu

    <a href="https://doi.org/10.1016/j.procir.2018.01.039" target="_blank" >https://doi.org/10.1016/j.procir.2018.01.039</a>

  • DOI - Digital Object Identifier

    <a href="http://dx.doi.org/10.1016/j.procir.2018.01.039" target="_blank" >10.1016/j.procir.2018.01.039</a>

Alternativní jazyky

  • Jazyk výsledku

    angličtina

  • Název v původním jazyce

    Distributed Motion Planning for Industrial Random Bin Picking

  • Popis výsledku v původním jazyce

    The task of bin picking is to automatically unload objects from a container using a robotic manipulator. A widely used solution is to organize 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. 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. Due to unknown positions of the objects in the non-structured bin picking scenario, trajectories for the manipulator cannot be precomputed, but they have to be computed online. Sampling-based motion planning methods like Rapidly Exploring Random Tree (RRT) can be used to plan the trajectories. In this paper, we propose a modification of RRT for distributed motion planning aiming to reduce the runtime. The planning task is first simplified by computing several guiding waypoints. The waypoints are distributed to a set of planners running in parallel and each planner computes a short trajectory between two given waypoints. Connecting the waypoints is easier than solving the original task, therefore each planner runs fast. In comparison to other parallel motion planning techniques, the proposed approach does not require any communication among the computational nodes, which is more suitable for cloud-based computing. The proposed work has been verified both in simulation and on a prototype of a bin picking system. (C) 2018 The Authors. Published by Elsevier B.V.

  • Název v anglickém jazyce

    Distributed Motion Planning for Industrial Random Bin Picking

  • Popis výsledku anglicky

    The task of bin picking is to automatically unload objects from a container using a robotic manipulator. A widely used solution is to organize 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. 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. Due to unknown positions of the objects in the non-structured bin picking scenario, trajectories for the manipulator cannot be precomputed, but they have to be computed online. Sampling-based motion planning methods like Rapidly Exploring Random Tree (RRT) can be used to plan the trajectories. In this paper, we propose a modification of RRT for distributed motion planning aiming to reduce the runtime. The planning task is first simplified by computing several guiding waypoints. The waypoints are distributed to a set of planners running in parallel and each planner computes a short trajectory between two given waypoints. Connecting the waypoints is easier than solving the original task, therefore each planner runs fast. In comparison to other parallel motion planning techniques, the proposed approach does not require any communication among the computational nodes, which is more suitable for cloud-based computing. The proposed work has been verified both in simulation and on a prototype of a bin picking system. (C) 2018 The Authors. Published by Elsevier B.V.

Klasifikace

  • Druh

    D - Stať ve sborníku

  • CEP obor

  • OECD FORD obor

    10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Návaznosti výsledku

  • 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)

Ostatní

  • Rok uplatnění

    2018

  • Kód důvěrnosti údajů

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

Údaje specifické pro druh výsledku

  • Název statě ve sborníku

    Procedia CIRP

  • ISBN

  • ISSN

    2212-8271

  • e-ISSN

  • Počet stran výsledku

    6

  • Strana od-do

    121-126

  • Název nakladatele

    Elsevier B.V.

  • Místo vydání

    Amsterdam

  • Místo konání akce

    Fürth

  • Datum konání akce

    3. 9. 2018

  • Typ akce podle státní příslušnosti

    WRD - Celosvětová akce

  • Kód UT WoS článku

    000547342800023