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Object recognition: Bin-picking for industrial use

: Spenrath, Felix; Palzkill, Matthias; Pott, Andreas; Verl, Alexander


Lee, Ju-Jang (General Chair); Verl, Alexander (International Program Committee) ; Institute of Electrical and Electronics Engineers -IEEE-; International Federation of Robotics; Korea Advanced Institute of Science and Technology -KAIST-, Seoul:
ISR 2013, 44th International Symposium on Robotics : October 24-26, 2013, Seoul, Korea. Proceedings
Taipei/Taiwan, 2013
3 S.
International Symposium on Robotics (ISR) <44, 2013, Seoul>
Fraunhofer IPA ()
Greifer; gripper; Lageerkennung; Greifpunktbestimmung; bin-picking; Griff in die Kiste; feeding system; automatisierte Zuführeinrichtung; object recognition; Roboter; Industrieroboter; Greifervorrichtung; Zuführen; Objekterkennung

This paper shows a method for object pose detection and gripping point determination that is successfully applied to industrial applications running a three-shift system. The industrial applications are fully automated feeding systems, commonly known as bin-picking. The proposed method for object detection is a generic approach to detect 6 degrees of freedom of any solid objects with arbitrary geometry. The proposed method is using 3D range data and is based on a heuristic tree search using a 6D pose voting scheme. For gripping point determination the object removal is simulated using the range data and a CAD model of the gripper in order to avoid any kind of collisions. During long-term operations in different use-cases, the method showed its usability regarding the crucial requirements, such as robustness, accuracy, portability and speed.