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Robotic Bin-Picking under Geometric End-Effector Constraints: Bin Placement and Grasp Selection

Abstract

In this paper we demonstrate how path reachability can be taken into account when selecting among predetermined grasps in a bin-picking application, where grasps are supplied independently of the robot at hand. We do this by creating a map of the workspace to optimally place the bin with regards to the existence of an inverse kinematic solution and a collision-free path, a necessary condition for systems with obstructions in the workspace. Furthermore, we densely re-map this region and based on this map predict whether a grasp is reachable by the robot. Moreover, an algorithm is implemented to weight the grasps in terms of path existence, length and time consumption. The algorithm was tested with grasps generated by the neural network in simulation and the results indicate that faster picking can be achieved when taking path reachability into consideration.
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Category

Academic chapter

Language

English

Author(s)

Affiliation

  • SINTEF Digital / Mathematics and Cybernetics
  • Norwegian University of Science and Technology

Year

2019

Publisher

IEEE Press

Book

Proceedings, 2019 IEEE 7th International Conference on Control, Mechatronics and Automation

ISBN

9781728137865

Page(s)

197 - 203

View this publication at Norwegian Research Information Repository