Robust motion generation for vision-guided robot bin-picking

Simon Leonard, Elizabeth Croft, Ambrose Chan, James J. Little

Research output: Chapter in Book/Report/Conference proceedingConference PaperOther

5 Citations (Scopus)

Abstract

This paper discusses work towards a vision-based solution to the problem of robot bin-picking. The problem of robot bin picking is defined as searching for and recognizing a part among many lying jumbled in a bin such that the robot is able to grasp and manipulate the part. Despite decades of research in vision, robotics, and manufacturing, this problem remains open. Currently, in modern manufacturing, this seemingly simple task is performed by complex assembly lines or manual labor. The amount of efforts and costs associated with the current solutions to bin-picking is a testament to the importance of a new solution. The main objective of this research is a reliable and cost effective automated solution to the bin-picking problem encountered in manufacturing. As a broader contribution, this research also provides a robust visual servoing method that enables safe interactions between a robot and its environment. Our system uses visual feedback to generate tasks autonomously and to control the interaction of the manipulator with its environment. First, our system relies on robust vision-based object localization to generate threedimensional pose hypotheses for each identified part. Then, the hypotheses are filtered according to the feasibility of their picking configuration. Finally, a trajectory is generated for a picking position. In this paper, we consider the specifications of the trajectory ensure that collisions with the bin and joints limits are avoided, while servoing the robot to the part. To ensure the reliability of the system, the procedure is tested in a simulation before being executed by a manipulator. Our experiments target the automotive industry and involve real engine parts a typical industrial robot and metal bin.

Original languageEnglish
Title of host publicationProceedings of the ASME International Mechanical Engineering Congress and Exposition, IMECE 2007
Pages651-658
Number of pages8
Volume9 PART A
DOIs
Publication statusPublished - 30 May 2008
Externally publishedYes
EventInternational Mechanical Engineering Congress and Exposition 2007 - Seattle, WA, United States of America
Duration: 11 Nov 200715 Nov 2007

Conference

ConferenceInternational Mechanical Engineering Congress and Exposition 2007
Abbreviated titleIMECE 2007
CountryUnited States of America
CitySeattle, WA
Period11/11/0715/11/07

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