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A new multi-modal approach towards reliable bin-picking application

 
: Mueller, Veit; Behrens, Roland; Elkmann, Norbert

Verl, Alexander (Chairman, Tagungspräsident); Dragan, Mihai (Programmkomitee); Hägele, Martin (Programmkomitee) ; International Federation of Robotics; Deutsche Gesellschaft für Robotik -DGR-; Informationstechnische Gesellschaft -ITG-; Verband Deutscher Maschinen- und Anlagenbau e.V. -VDMA-, Fachverband Robotik und Automation, Frankfurt/Main; Fraunhofer-Institut für Produktionstechnik und Automatisierung -IPA-, Stuttgart:
47th International Symposium on Robotics 2016 : Robotics in the Era of Digitalization. June 21-22, 2016, Munich, Germany
Berlin: VDE-Verlag, 2016
ISBN: 978-3-8007-4231-8
S.473-479
International Symposium on Robotics (ISR) <47, 2016, München>
Englisch
Konferenzbeitrag
Fraunhofer IFF ()

Abstract
In this paper we present a multi-modal bin-picking system, which combines visual and tactile data to grip parts reliable. To achieve this, both a suction cup and a magnet gripper of a commercially-available bin picking system have been equipped with a tactile sensor array. We will demonstrate how the multi-modal concept can be utilized for reliable grip monitoring in bin-picking. In combination with the visual data, we show how the tactile modality offers new opportunities relating to collision detection, part loss and verification of intended grip.

: http://publica.fraunhofer.de/dokumente/N-422752.html