Multimodal Bin Picking System with Compliant Tactile Sensor Arrays for Flexible Part Handling

This paper presents a robot control architecture comprised of tactile and vision sensors incorporated into an off-the-shelf bin picking system. The proposed architecture facilitates flexible and reliable handling of objects and materials by employing a tactile grasp validation system and in-hand obj...

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Published in:Proceedings - IEEE International Conference on Robotics and Automation pp. 2824 - 2830
Main Authors: Muller, Veit, Elkmann, Norbert
Format: Conference Proceeding
Language:English
Published: IEEE 01.05.2019
Subjects:
Grasping
Grippers
Monitoring
Pose estimation
Sensor arrays
Tactile sensors
ISSN:2577-087X
Online Access:Get full text
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Abstract This paper presents a robot control architecture comprised of tactile and vision sensors incorporated into an off-the-shelf bin picking system. The proposed architecture facilitates flexible and reliable handling of objects and materials by employing a tactile grasp validation system and in-hand object monitoring. Two industrial grippers, specifically a magnetic gripper and a flexible vacuum gripper, are equipped with a compliant custom tactile sensor array. The algorithms used are for each specific gripper and respective sensor, however are transferrable to other grippers as well. The tactile sensing augments vision-based picking approaches, thus supporting in-hand object recognition [1] that is particularly useful for hard-to-recognize objects such as objects with transparent or shiny surfaces. Algorithms for tactile-based object pose estimation in the gripper and for grasp monitoring, including grasp validation, complete the approach.
AbstractList This paper presents a robot control architecture comprised of tactile and vision sensors incorporated into an off-the-shelf bin picking system. The proposed architecture facilitates flexible and reliable handling of objects and materials by employing a tactile grasp validation system and in-hand object monitoring. Two industrial grippers, specifically a magnetic gripper and a flexible vacuum gripper, are equipped with a compliant custom tactile sensor array. The algorithms used are for each specific gripper and respective sensor, however are transferrable to other grippers as well. The tactile sensing augments vision-based picking approaches, thus supporting in-hand object recognition [1] that is particularly useful for hard-to-recognize objects such as objects with transparent or shiny surfaces. Algorithms for tactile-based object pose estimation in the gripper and for grasp monitoring, including grasp validation, complete the approach.
Author Elkmann, Norbert
Muller, Veit
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  givenname: Norbert
  surname: Elkmann
  fullname: Elkmann, Norbert
  organization: Both authors are with the Fraunhofer Institute for Factory Operation and Automation IFF, Magdeburg, 30106
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Snippet This paper presents a robot control architecture comprised of tactile and vision sensors incorporated into an off-the-shelf bin picking system. The proposed...
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StartPage 2824
SubjectTerms Grasping
Grippers
Monitoring
Pose estimation
Sensor arrays
Tactile sensors
Title Multimodal Bin Picking System with Compliant Tactile Sensor Arrays for Flexible Part Handling
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