| Title: | Robotic bin-picking : benchmarking robotics grippers with modified YCB object and model set |
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| Authors: | ID Lerher, Tone (Author)
ID Bencak, Primož (Author)
ID Bizjak, Luka (Author)
ID Hercog, Darko (Author)
ID Jerman, Boris (Author) |
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| Files: |  https://digitalcommons.georgiasouthern.edu/pmhr_2023/9/
https://digitalcommons.georgiasouthern.edu/imhrc/2023/2023/10/
 Lerher_et_al._Robotic_bin-picking__Benchmarking_robotics_grippers_with_modified.pdf (773,38 KB)
MD5: DC8FA2135ED8D648FFF7B27D781F4089
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| Language: | English |
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| Work type: | Other |
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| Typology: | 1.08 - Published Scientific Conference Contribution |
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| Organization: | FL - Faculty of Logistic
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| 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. |
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| Keywords: | intralogistics, robotic bin-picking, YCB protocol, robotic gripper evaluation, mechanical software simulations, performance analysis |
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| Publication status: | Published |
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| Publication version: | Version of Record |
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| Year of publishing: | 2023 |
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| Number of pages: | Str. [1-8] |
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| PID: | 20.500.12556/DKUM-87686  |
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| UDC: | 007.52:658 |
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| COBISS.SI-ID: | 164083203 |
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| 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. |
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| Publication date in DKUM: | 21.03.2024 |
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| Views: | 298 |
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| Downloads: | 12 |
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| Metadata: |    |
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| Categories: | Misc.
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