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Title:Object detection and graspability analysis for robotic bin-picking application in intralogistics
Authors:ID Bencak, Primož (Author)
ID Hercog, Darko (Author)
ID Lerher, Tone (Author)
Files:URL https://icil2023.fsb.hr/images/ICIL2023.Conference.Proceedings.pdf
.pdf Bencak,_Hercog,_Lehrer_-_Object_detection_and_graspability_analysis_for_robotic_bin-picking_application_in_intralogistics.pdf (1,89 MB)
Work type:Other
Typology:1.08 - Published Scientific Conference Contribution
Organization:FL - Faculty of Logistic
FERI - Faculty of Electrical Engineering and Computer Science
FS - Faculty of Mechanical Engineering
Abstract: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.
Keywords:intralogistics, robotic bin-picking, detection analysis, graspability analysis
Publication status:Published
Publication version:Version of Record
Publisher:University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture
Year of publishing:2023
Number of pages:Str. 7-14
PID:20.500.12556/DKUM-84797 New window
COBISS.SI-ID:154849795 New window
Publication date in DKUM:25.07.2023
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Record is a part of a monograph

Title:ICIL 2023 : International Conference on Industrial Logistics May 31 – June 02, 2023, Hotel Kolovare, Zadar, Croatia
Editors:Goran Đukić, Tihomir Opetuk
Place of publishing:Zagreb
Publisher:University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture
Year of publishing:2023
COBISS.SI-ID:154810883 New window

Document is financed by a project

Funder:ARRS - Slovenian Research Agency
Project number:L5-2626
Name:Skladiščenje 4.0 – Model integracije skladiščno-komisionirnih in robotskih sistemov

Funder:ARRS - Slovenian Research Agency
Funding programme:Young Researcher Program MR+


License:CC BY-NC-ND 4.0, Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International
Description:The most restrictive Creative Commons license. This only allows people to download and share the work for no commercial gain and for no other purposes.

Secondary language

Keywords:intralogistika, robotsko komisioniranje, analiza detekcije, analiza oprijemljivosti


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