Vision-less Bin-Picking for Small Parts Feeding

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Resumé

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
Antal sider7
ForlagIEEE
Publikationsdato22. aug. 2019
Sider1657-1663
ISBN (Elektronisk)978-1-7281-0355-6
StatusUdgivet - 22. aug. 2019

Citer dette

Mathiesen, S., Iturrate, I., & Kramberger, A. (2019). Vision-less Bin-Picking for Small Parts Feeding. I 2019 IEEE 15th International Conference on Automation Science and Engineering (s. 1657-1663). IEEE.
Mathiesen, Simon ; Iturrate, Iñigo ; Kramberger, Aljaz. / Vision-less Bin-Picking for Small Parts Feeding. 2019 IEEE 15th International Conference on Automation Science and Engineering. IEEE, 2019. s. 1657-1663
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Mathiesen, S, Iturrate, I & Kramberger, A 2019, Vision-less Bin-Picking for Small Parts Feeding. i 2019 IEEE 15th International Conference on Automation Science and Engineering. IEEE, s. 1657-1663.

Vision-less Bin-Picking for Small Parts Feeding. / Mathiesen, Simon; Iturrate, Iñigo; Kramberger, Aljaz.

2019 IEEE 15th International Conference on Automation Science and Engineering. IEEE, 2019. s. 1657-1663.

Publikation: Bidrag til bog/antologi/rapport/konference-proceedingKonferencebidrag i proceedingsForskningpeer review

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Mathiesen S, Iturrate I, Kramberger A. Vision-less Bin-Picking for Small Parts Feeding. I 2019 IEEE 15th International Conference on Automation Science and Engineering. IEEE. 2019. s. 1657-1663