Benchmark Concept for Industrial Pick&Place Applications

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F21%3A00354056" target="_blank" >RIV/68407700:21230/21:00354056 - isvavai.cz</a>

Výsledek na webu

<a href="https://doi.org/10.1088/1757-899X/1140/1/012014" target="_blank" >https://doi.org/10.1088/1757-899X/1140/1/012014</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1088/1757-899X/1140/1/012014" target="_blank" >10.1088/1757-899X/1140/1/012014</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Benchmark Concept for Industrial Pick&Place Applications

Popis výsledku v původním jazyce

Robotic grasping and manipulation is a highly active research field. Typical solutions are usually composed of several modules, e.g. object detection, grasp selection and motion planning. However, from an industrial point of view, it is not clear which solutions can be readily used and how individual components affect each other. Benchmarks used in research are often designed with simplified settings in a very specific scenario, disregarding the peculiarities of the industrial environment. Performance in real-world applications is therefore likely to differ from benchmark results. In this paper, we present a concept for the design of general Pick&Place benchmarks, which help practitioners to evaluate the system and its components for an industrial scenario. The user specifies the workspace (obstacles, movable objects), the robot (kinematics, etc.) and chooses from a set of methods to realize a desired task. Our proposed framework executes the workflow in a physics simulation to determine a range of system-level performance measures. Furthermore, it provides introspective insights for the performance of individual components.

Název v anglickém jazyce

Benchmark Concept for Industrial Pick&Place Applications

Popis výsledku anglicky

Robotic grasping and manipulation is a highly active research field. Typical solutions are usually composed of several modules, e.g. object detection, grasp selection and motion planning. However, from an industrial point of view, it is not clear which solutions can be readily used and how individual components affect each other. Benchmarks used in research are often designed with simplified settings in a very specific scenario, disregarding the peculiarities of the industrial environment. Performance in real-world applications is therefore likely to differ from benchmark results. In this paper, we present a concept for the design of general Pick&Place benchmarks, which help practitioners to evaluate the system and its components for an industrial scenario. The user specifies the workspace (obstacles, movable objects), the robot (kinematics, etc.) and chooses from a set of methods to realize a desired task. Our proposed framework executes the workflow in a physics simulation to determine a range of system-level performance measures. Furthermore, it provides introspective insights for the performance of individual components.

Druh

D - Stať ve sborníku

CEP obor

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OECD FORD obor

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

Projekt

<a href="/cs/project/GJ19-22555Y" target="_blank" >GJ19-22555Y: Vzorkovací techniky plánování pohybu a akcí s využitím aproximačních řešení</a><br>

Návaznosti

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

Rok uplatnění

2021

Kód důvěrnosti údajů

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

Název statě ve sborníku

MMM 2021: Proceedings of the Modern Materials and Manufacturing

ISBN

—

ISSN

1757-899X

e-ISSN

1757-899X

Počet stran výsledku

5

Strana od-do

—

Název nakladatele

IOPscience

Místo vydání

Madeira

Místo konání akce

Tallinn

Datum konání akce

27. 4. 2021

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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