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Title:Robotic bin-picking : benchmarking robotics grippers with modified YCB object and model set
Authors:ID Lerher, Tone (Author)
ID Bencak, Primož (Author)
ID Bizjak, Luka (Author)
ID Hercog, Darko (Author)
ID Jerman, Boris (Author)
Files:URL https://digitalcommons.georgiasouthern.edu/pmhr_2023/9/
 
URL https://digitalcommons.georgiasouthern.edu/imhrc/2023/2023/10/
 
.pdf Lerher_et_al._Robotic_bin-picking__Benchmarking_robotics_grippers_with_modified.pdf (773,38 KB)
MD5: DC8FA2135ED8D648FFF7B27D781F4089
 
Language:English
Work type:Other
Typology:1.08 - Published Scientific Conference Contribution
Organization:FL - Faculty of Logistic
Abstract: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.
Keywords:intralogistics, robotic bin-picking, YCB protocol, robotic gripper evaluation, mechanical software simulations, performance analysis
Publication status:Published
Publication version:Version of Record
Year of publishing:2023
Number of pages:Str. [1-8]
PID:20.500.12556/DKUM-87686 New window
UDC:007.52:658
COBISS.SI-ID:164083203 New window
Copyright:This research paper is brought to you for free and open access by the Progress in Material Handling Research at Digital Commons@Georgia Southern. It has been accepted for inclusion in 16th Proceedings (Dresden, Germany2023) by an authorized administrator of Digital Commons@Georgia Southern.
Publication date in DKUM:21.03.2024
Views:176
Downloads:9
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Record is a part of a monograph

Title:Progress in material handling research : 16th proceedings
Place of publishing:[Charlotte, NC]
Publisher:College Industry Council on Material Handling Education
Year of publishing:2023
COBISS.SI-ID:164054531 New window

Document is financed by a project

Funder:ARIS - Slovenian Research and Innovation Agency
Funding programme:Javna agencija za znanstvenoraziskovalno in inovacijsko dejavnost Republike Slovenije
Project number:L5-2626-2020
Name:Skladiščenje 4.0 – Model integracije skladiščno-komisionirnih in robotskih sistemov

Secondary language

Language:Slovenian
Keywords:intralogistika, robotsko pobiranje v košare, protokol YCB, ocenjevanje robotskih prijemal, simulacije mehanske programske opreme, analiza delovanja


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