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Naslov:Simulation model for robotic pick-point evaluation for 2-F robotic gripper
Avtorji:ID Bencak, Primož (Avtor)
ID Hercog, Darko (Avtor)
ID Lerher, Tone (Avtor)
Datoteke:URL https://www.mdpi.com/2076-3417/13/4/2599
 
.pdf Bencak,_Hercog,_Lerher_Simulation_Model_for_Robotic_Pick-Point_Evaluation_for.pdf (19,99 MB)
MD5: DBB5B567F5268E7CDE37F1D007F5198F
 
Jezik:Angleški jezik
Vrsta gradiva:Članek v reviji
Tipologija:1.01 - Izvirni znanstveni članek
Organizacija:FL - Fakulteta za logistiko
FERI - Fakulteta za elektrotehniko, računalništvo in informatiko
FS - Fakulteta za strojništvo
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
Status publikacije:Objavljeno
Verzija publikacije:Objavljena publikacija
Datum objave:17.02.2023
Leto izida:2023
Št. strani:str. 1-29
Številčenje:Vol. 13, iss. 4, [article no.] 2599
PID:20.500.12556/DKUM-83859 Novo okno
UDK:004.942:658.78
COBISS.SI-ID:143295491 Novo okno
DOI:10.3390/app13042599 Novo okno
ISSN pri članku:2076-3417
Datum objave v DKUM:27.02.2023
Število ogledov:533
Število prenosov:45
Metapodatki:XML RDF-CHPDL DC-XML DC-RDF
Področja:Ostalo
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Vaša ocena:Ocenjevanje je dovoljeno samo prijavljenim uporabnikom.
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Gradivo je del revije

Naslov:Applied sciences
Skrajšan naslov:Appl. sci.
Založnik:MDPI
ISSN:2076-3417
COBISS.SI-ID:522979353 Novo okno

Gradivo je financirano iz projekta

Financer:ARRS - Agencija za raziskovalno dejavnost Republike Slovenije
Številka projekta:MR
Naslov:Mladi raziskovalec
Akronim:MR

Financer:ARRS - Agencija za raziskovalno dejavnost Republike Slovenije
Številka projekta:L5-2626-2020
Naslov:Skladiščenje 4.0 – Model integracije skladiščno-komisionirnih in robotskih sistemov

Licence

Licenca:CC BY 4.0, Creative Commons Priznanje avtorstva 4.0 Mednarodna
Povezava:http://creativecommons.org/licenses/by/4.0/deed.sl
Opis:To je standardna licenca Creative Commons, ki daje uporabnikom največ možnosti za nadaljnjo uporabo dela, pri čemer morajo navesti avtorja.

Sekundarni jezik

Jezik:Slovenski jezik
Ključne besede:intralogistika, robotsko komisioniranje, simulacijski model, ADAMS, določevanje prijemne točke, MATLAB/Simulink, dvo-prstno prijemalo, analiza delovanja


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