A new Multi-Modal Approach towards reliable Bin-Picking Application

Konferenz: ISR 2016 - 47st International Symposium on Robotics
21.06.2016 - 22.06.2016 in München, Germany

Tagungsband: ISR 2016

Seiten: 7Sprache: EnglischTyp: PDF

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Mueller, Veit; Behrens, Roland; Elkmann, Norbert (Fraunhofer IFF, Germany and Rene Dencker Eriksen, Scape Technologies A/S, Denmark)

In this paper we present a multi-modal bin-picking system, which combines visual and tactile data to grip parts reliable. To achieve this, both a suction cup and a magnet gripper of a commercially-available bin picking system have been equipped with a tactile sensor array. We will demonstrate how the multi-modal concept can be utilized for reliable grip monitoring in bin-picking. In combination with the visual data, we show how the tactile modality offers new opportunities relating to collision detection, part loss and verification of intended grip.