Vision-less Bin-Picking for Small Parts Feeding

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Abstract

Part feeding remains a vital yet troublesome task. This is especially true for flexible manufacturing systems, where classical methods are less applicable due to constraints from small batch sizes and high part variance. In this paper, a novel approach to part feeding is presented, which is targeted at small parts, such as nuts and bolts, that commonly occur in assembly tasks. The approach is an alternative bin picking solution, where parts stored unordered in bins, are oriented and presented for further manipulation using a specially designed tool. The tool is manifested a scoop, which a robot can use to scoop parts from the bins without the use of external sensory input such as vision. Using solely mechanical orienting principles and the motion of the robot, the parts are sorted so only parts in a desired orientation remain in the scoop. The approach is tested on a number of different parts to benchmark its performance.
OriginalsprogEngelsk
Titel2019 IEEE 15th International Conference on Automation Science and Engineering, CASE 2019
ForlagIEEE
Publikationsdato2019
Sider1657-1663
ISBN (Trykt)978-1-7281-0357-0
ISBN (Elektronisk)978-1-7281-0355-6, 978-1-7281-0356-3
DOI
StatusUdgivet - 2019
Begivenhed15th IEEE International Conference on Automation Science and Engineering, CASE 2019 - Vancouver, Canada
Varighed: 22. aug. 201926. aug. 2019

Konference

Konference15th IEEE International Conference on Automation Science and Engineering, CASE 2019
Land/OmrådeCanada
ByVancouver
Periode22/08/201926/08/2019
SponsorABB Robotics, University of Wisconsin–Madison, et al., IEEE, IEEE Robotics and Automation Society, National Science Foundation (NSF)
NavnProceedings - IEEE International Conference on Automation Science and Engineering
ISSN2161-8070

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