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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| Vydáno v: | Proceedings - IEEE International Conference on Robotics and Automation s. 2824 - 2830 |
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| Hlavní autoři: | , |
| Médium: | Konferenční příspěvek |
| Jazyk: | angličtina |
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IEEE
01.05.2019
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| ISSN: | 2577-087X |
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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. |
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| 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 |
| Author_xml | – sequence: 1 givenname: Veit surname: Muller fullname: Muller, Veit email: veit.mueller@iff.fraunhofer.de organization: Both authors are with the Fraunhofer Institute for Factory Operation and Automation IFF, Magdeburg, 30106 – sequence: 2 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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