Path Planning Process Optimization for a Bin Picking System

Konferenz: ISR/ROBOTIK 2010 - ISR 2010 (41st International Symposium on Robotics) and ROBOTIK 2010 (6th German Conference on Robotics)
07.06.2010 - 09.06.2010 in Munich, Germany

Tagungsband: ISR/ROBOTIK 2010

Seiten: 7Sprache: EnglischTyp: PDF

Persönliche VDE-Mitglieder erhalten auf diesen Artikel 10% Rabatt

Tauro, Ricardo A.; Kaiser, Benedikt; Wörn, Heinz (Institute for Process Control and Robotics (IPR), Karlsruhe Institute of Technology (KIT), Germany)

Nowadays, it is impossible to think of a flexible automatic production without robots. Robots are very important tools in tasks such as objects handling. In the industrial robotic area, especially in logistics, production and assembly, the necessity to sort objects can often be observed. Katsoulas already noted that "such systems are of great importance because they undertake a task that is very monotonous, strenuous and sometimes quite dangerous for humans". The most complex sorting task has been named bin picking. Due to the fact that in such application the system has not a certain previous knowledge of the environment, the integration of sensors as well as algorithms for the sensor evaluation and computation of a collision free path is vital to achieve a robust system.