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Gripping point determination for bin picking using heuristic search

 
: Spenrath, F.; Pott, A.

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Procedia CIRP 62 (2017), S.606-611
ISSN: 2212-8271
International Conference on Intelligent Computation in Manufacturing Engineering (ICME) <10, 2016, Ischia>
Englisch
Zeitschriftenaufsatz, Konferenzbeitrag, Elektronische Publikation
Fraunhofer IPA ()

Abstract
Random bin picking is often considered primarily to be an object localization problem. However, the determination of a suitable grasp in a given situation is an equally important part of picking chaotically stored objects for which only few solutions exist. This paper presents a novel approach by representing the localized workpieces and possible grasps by a tree and using heuristic search to determine a feasible gripping solution in a short time. The proposed heuristic function is based on collision testing and a statistical evaluation of the likelihood for a collision-free grasp. Finally, the presented search method is experimentally validated.

: http://publica.fraunhofer.de/dokumente/N-455978.html