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Robotic bin-picking : benchmarking robotics grippers with modified YCB object and model set
Tone Lerher, Primož Bencak, Luka Bizjak, Darko Hercog, Boris Jerman, 2023, objavljeni znanstveni prispevek na konferenci

Opis: Robotic bin-picking is increasingly important in the order-picking process in intralogistics. However, many aspects of the robotic bin-picking process (object detection, grasping, manipulation) still require the research community's attention. Established methods are used to test robotic grippers, enabling comparability of the research community's results. This study presents a modified YCB Robotic Gripper Assessment Protocol that was used to evaluate the performance of four robotic grippers (twofingered, vacuum, gecko, and soft gripper). During the testing, 45 objects from the modified YCB Object and Model Set from the packaging categories, tools, small objects, spherical objects, and deformable objects were grasped and manipulated. The results of the robotic gripper evaluation show that while some robotic grippers performed substantially well, there is an expressive grasp success variation over diverse objects. The results indicate that selecting the object grasp point next to selecting the most suitable robotic gripper is critical in successful object grasping. Therefore, we propose grasp point determination using mechanical software simulation with a model of a two-fingered gripper in an ADAMS/MATLAB cosimulation. Performing software simulations for this task can save time and give comparable results to real-world experiments.
Ključne besede: intralogistics, robotic bin-picking, YCB protocol, robotic gripper evaluation, mechanical software simulations, performance analysis
Objavljeno v DKUM: 21.03.2024; Ogledov: 87; Prenosov: 7
.pdf Celotno besedilo (773,38 KB)
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Object detection and graspability analysis for robotic bin-picking application in intralogistics
Primož Bencak, Darko Hercog, Tone Lerher, 2023, objavljeni znanstveni prispevek na konferenci

Opis: Robotics has been gaining attention in intralogistics applications in recent years. Automation of intralogistics processes aims to cope with the rising trends of workforce deficiency, aging, and increasing demands that came with the rise of E-commerce. Many improvements aim at bin-picking applications since order-picking requires most contributions while adding little to the products' value. Robotic bin-pickers are showing promising results; however, they are still subject to many limitations. First, the vision system must correctly determine the object's location and orientation. Second, a correct robotic gripper must be chosen. Lastly, appropriate grasping points that lead to successful picking must be selected. In this paper, we explore the influencing parameters of object detection using a 3D vision system. Second, we analyze an actual bin-picking application to determine the most appropriate selection of the robotic gripper. Based on the experiments, we provide the guidelines for selecting the most appropriate robotic bin-picking configuration.
Ključne besede: intralogistics, robotic bin-picking, detection analysis, graspability analysis
Objavljeno v DKUM: 25.07.2023; Ogledov: 291; Prenosov: 15
.pdf Celotno besedilo (1,89 MB)
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Evaluating robot bin-picking performance based on Box and Blocks Test
Primož Bencak, Darko Hercog, Tone Lerher, 2022, objavljeni znanstveni prispevek na konferenci

Opis: The rise of e-commerce, which demands solutions for small order sizes, large product assortment, short delivery times, and variable order quantity has created a need for more advanced warehousing and order-picking systems. The advancements in collaborative robotics have made it possible to automate intralogistics processes, especially the order-picking systems. If the items to be order-picked are stored in small containers, called bins, the process is known as bin-picking. The processes of bin-picking are still mainly manual due to the adaptability, dexterity, and pace of human hands. However, with the emerging technologies, the gap between human and robot dexterity is getting thinner. The integrators of robotic technologies are therefore faced with the challenge of choosing an appropriate robotic system for bin-picking. There is a lack of standardized procedures, which are designed to process such decisions easier. In our research paper, we propose an improved robotic version of the Box and Blocks Test (BBT), which provides a quick evaluation of a complete robotic bin-picking system. Using our improved robot-adapted BBT protocol, we evaluate a sample robotic bin-picking system, consisting of a collaborative robot, a 3D vision system and three types of robotic grippers, comparing the bin-picking performance of each configuration.
Ključne besede: robotic bin-picking, intralogistics, Box, Blocks Test, vision system, collaborative robot
Objavljeno v DKUM: 03.03.2023; Ogledov: 605; Prenosov: 39
.pdf Celotno besedilo (715,59 KB)
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Simulation model for robotic pick-point evaluation for 2-F robotic gripper
Primož Bencak, Darko Hercog, Tone Lerher, 2023, izvirni znanstveni članek

Opis: Robotic bin-picking performance has been gaining attention in recent years with the development of increasingly advanced camera and machine vision systems, collaborative and industrial robots, and sophisticated robotic grippers. In the random bin-picking process, the wide variety of objects in terms of shape, weight, and surface require complex solutions for the objects to be reliably picked. The challenging part of robotic bin-picking is to determine object pick-points correctly. This paper presents a simulation model based on ADAMS/MATLAB cosimulation for robotic pick-point evaluation for a 2-F robotic gripper. It consists of a mechanical model constructed in ADAMS/View, MATLAB/Simulink force controller, several support functions, and the graphical user interface developed in MATLAB/App Designer. Its functionality can serve three different applications, such as: (1) determining the optimal pick-points of the object due to object complexity, (2) selecting the most appropriate robotic gripper, and (3) improving the existing configuration of the robotic gripper (finger width, depth, shape, stroke width, etc.). Additionally, based on this analysis, new variants of robotic grippers can be proposed. The simulation model has been verified on a selected object on a sample 2-F parallel robotic gripper, showing promising results, where up to 75% of pick-points were correctly determined in the initial testing phase.
Ključne besede: intralogistics, robotic bin-picking, simulation model, ADAMS, pick-point determination, MATLAB/Simulink, 2-F robotic gripper, performance analysis
Objavljeno v DKUM: 27.02.2023; Ogledov: 595; Prenosov: 58
.pdf Celotno besedilo (19,99 MB)
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Evaluation of Machine Learning Algorithms for Predicting the Processing Time of Order Picking in a Warehouse
Tilen Škrinjar, 2019, magistrsko delo

Opis: Optimization of warehouse processes increases efficiency and lowers the cost of managing a warehouse. The most expensive and time-consuming activity is picking. Knowing picking process time is an important factor for proper organization of material and information flow. Orders delivered to a packing station too early or too late can cause delays in a warehouse. The purpose of this study is to evaluate machine learning pipeline for processing time prediction of order picking. This includes data gathering, data preprocessing and the evaluation of machine learning algorithms, which are the most important aspects of this research.
Ključne besede: warehouse, order picking, machine learning, regression analysis
Objavljeno v DKUM: 25.02.2019; Ogledov: 1680; Prenosov: 39
.pdf Celotno besedilo (3,28 MB)

Automatic S-phase arrival identification for local earthquakes
Izidor Tasič, Franc Runovc, 2009, izvirni znanstveni članek

Opis: In the case of a strong local earthquake, a quick report about the earthquake’s location is expected. Such reports are usually performed automatically, where the identification of the seismic-phase arrival of the various seismic waves on the seismogram is the most important task. For this purpose, numerous detecting methods for the first P-wave arrival identification and determination are used. But in some cases, where the number of seismic stations in a local seismic network is very small, an automatic reading of the S-wave arrival is required. An algorithm for the automatic picking of the S wave arrival from three-component seismic data has been developed. Three parameters of the signal are calculated from these data and the S phase arrival is declared when the product of the three parameters increases above a reference level. Such a so-called S-phase picker is used to automatically analyze the data from local earthquakes in Slovenia's seismic network.
Ključne besede: seismic waves, P and S waves, analysis of seismogram data, automatic picking of the S-wave arrival, seismic station, seismic network
Objavljeno v DKUM: 06.06.2018; Ogledov: 980; Prenosov: 186
.pdf Celotno besedilo (283,31 KB)
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Use of ergonomic principles in manual order picking systems
Nina Labus, Brigita Gajšek, 2018, izvirni znanstveni članek

Opis: Successful companies are continually striving to streamline costs and optimize processes, enabling them to grow progress, develop and ensure competitiveness on the market. A large part of the costs arises in warehouses, where up to 55% of total costs are generated by order- picking, which makes it important and interesting in terms of research. The paper explores "picker to part" order- picking concept, which enables flexible work and is the optimal choice for most companies. The concept is associated with a high level of work- related injuries and work -related illnesses. Work requires physical efforts resulting from handling heavy goods, performing repetitive movements and using manipulative means. Hum an as the main actor of the concept affects the costs caused by picking and the quality of work done, which depends on technological support, physically and psychologically capable and motivated people. Due to the high costs of service, the focus on time planning and productivity increases. Contrary, the lack of attention is paid to the working conditions and the health status of the pickers. To overcome this gab, a review of scientific and professional literature on ergonomic principles in picking concept "picker to part" was carried out, followed by a quantitative survey of ergonomic properties in warehousing activities. Results revealed that more than 60% of the surveyed order-pickers associate problems with health with the characteristics of work, about 24% of them associate health problems with the use of a particular means of transport, and all agree that provided measures to reduce physical effort and greater support of technologies influence on increased speed of work and better health status of order-pickers.
Ključne besede: injuries, picker-to-part, ergonomics, picking, productivity, costs
Objavljeno v DKUM: 25.04.2018; Ogledov: 1374; Prenosov: 443
.pdf Celotno besedilo (344,50 KB)
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