Concept for a Distributed Picking Application Utilizing Robotics and Digital Twins

The following paper describes a concept for a grasping application which utilizes technologies from the fields of distributed computing, robotics and Digital Twins in the sense of Industry 4.0. Hereby, the goal of the application is to have a computer vision system detect toy bricks which a robot has to pick and pass to a user. The application is divided into loosely coupled and distributed services that communicate with one another using a message broker.