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Intelligent picking of chaotically stored objects

: Schraft, R.D.; Ledermann, T.

Automated Imaging Association; Robotic Industries Association, Ann Arbor/Mich.:
ISR 2003. Tutorial #5. Cutting Edge Research in Robotics : 34th International Symposium on Robotics. June 2-5, 2003, Rosemont (Chicago), Illinois
Ann Arbor, Mich., 2003
International Symposium on Robotics (ISR) <34, 2003, Rosemont/Ill.>
Conference Paper
Fraunhofer IPA ()
bin-picking; Kollisionsvermeidung; Lager (Vorrat); Kommissionieranlage

A robot system for the intelligent picking of chaotically stored objects by the analysis of depth data is presented in this research article. This "bin-picking" enables the automatic storing of objects which is a prerequisite for the automatic supply of a processing machine. In oder to improve conventional localization systems, special attention is paid - apart from the identification of object positions - to gripping point calculation for the picking and to collision avaidance. To adapt the system to different object geometries, an approach was chosen that aims at storing the necessary object data in an off-line generated data base.