상세정보
학술대회
Robotic Vision System for Random Bin Picking with Dual-arm Robots
- 발행일
- 201606
- 출처
- International Conference on Measurement Instrumentation and Electronics (ICMIE) 2016, pp.1-5
- 협약과제
- 15PC1600, 양팔 작업을 위한 센서융합 인지 기반 제어기술 개발 및 다중로봇 협업 생산공정 적용 기술 개발, 김중배
- 초록
- Random bin picking is one of the most challenging industrial robotics applications available. It constitutes a complicated interaction between the vision system, robot, and control system. For a packaging operation requiring a pick-and-place task, the robot system utilized should be able to perform certain functions for recognizing the applicable target object from randomized objects in a bin. In this paper, we introduce a robotic vision system for bin picking using industrial dual-arm robots. The proposed system recognizes the best object from randomized target candidates based on stereo vision, and estimates the position and orientation of the object. It then sends the result to the robot control system. The system was developed for use in the packaging process of cell phone accessories using dual-arm robots.
- KSP 제안 키워드
- Pick-and-place, Position and orientation, Robot System, Vision system, cell phone, dual-arm robots, industrial robotics, random bin picking, robot control system, robotic vision, robotics applications