| Title: | Simulation model for robotic pick-point evaluation for 2-F robotic gripper |
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| Authors: | ID Bencak, Primož (Author)
ID Hercog, Darko (Author)
ID Lerher, Tone (Author) |
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| Files: |  Bencak,_Hercog,_Lerher_Simulation_Model_for_Robotic_Pick-Point_Evaluation_for.pdf (19,99 MB)
MD5: DBB5B567F5268E7CDE37F1D007F5198F
 https://www.mdpi.com/2076-3417/13/4/2599
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| Language: | English |
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| Work type: | Article |
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| Typology: | 1.01 - Original Scientific Article |
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| Organization: | FL - Faculty of Logistic
FERI - Faculty of Electrical Engineering and Computer Science
FS - Faculty of Mechanical Engineering
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| Abstract: | 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. |
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| Keywords: | intralogistics, robotic bin-picking, simulation model, ADAMS, pick-point determination, MATLAB/Simulink, 2-F robotic gripper, performance analysis |
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| Publication status: | Published |
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| Publication version: | Version of Record |
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| Submitted for review: | 28.12.2022 |
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| Article acceptance date: | 15.02.2023 |
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| Publication date: | 17.02.2023 |
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| Publisher: | MDPI |
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| Year of publishing: | 2023 |
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| Number of pages: | str. 1-29 |
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| Numbering: | Vol. 13, iss. 4, [article no.] 2599 |
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| PID: | 20.500.12556/DKUM-83859  |
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| UDC: | 004.942:658.78 |
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| ISSN on article: | 2076-3417 |
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| COBISS.SI-ID: | 143295491 |
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| DOI: | 10.3390/app13042599 |
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| Publication date in DKUM: | 27.02.2023 |
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| Views: | 764 |
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| Downloads: | 104 |
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| Metadata: |    |
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| Categories: | Misc.
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