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Depalletizing Of Tires With Robust Object Localization

: Schraft, R.D.; Neugebauer, J.-G.; Lehmann, K.

International Federation of Robotics; Canadian Federation for Robotics; Institute of Robotics and Intelligent Systems -IRIS-, Zürich:
The application of robotics and intelligent systems over, under and around the world : Proceedings of the 31th International Symposium on Robotics
Ottawa, 2000
International Symposium on Robotics (ISR) <31, 2000, Montreal>
Conference Paper
Fraunhofer IPA ()
Depalettieren; Objekterkennung; Reifen; Industrieroboter

A solution for automated unloading of rimless tires from a palette is presented. Based on a range image the single tires are isolated by segmentation and localized by their geometrical properties. Two different localization algorithms for lying and standing tires are described. The system is able to modify the gripping point at the tire, if collision in the robots path for unloading is present.