Journal
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
Volume 32, Issue 9-10, Pages 991-1004Publisher
SAGE PUBLICATIONS LTD
DOI: 10.1177/0278364913487237
Keywords
Motion planning; industrial robotics; bin picking
Categories
Funding
- Danish National Advanced Technology Foundation
Ask authors/readers for more resources
This paper presents an algorithm for planning efficient trajectories in a bin-picking scenario. The presented algorithm is designed to provide paths, which are applicable for typical industrial manipulators, and does not require customized research interfaces to the robot controller. The method provides paths (almost) instantaneously, which is important for running efficiently in production. To achieve this, the method utilizes that all motions start and end within sub-volumes of the work envelope. A database of paths can thus be pre-computed, such that all paths are optimized with respect to a specified cost function, thereby ensuring close to optimal solutions. When queried, the method searches the database for a feasible path candidate and adapts it to the specific query. To achieve an efficient execution on the robot, blends are added to ensure a smooth transition between segments. Two algorithms for calculating feasible blends based on the clearance between robot and obstacles are therefore provided. Finally, the method is tested in a real bin-picking application where it solves queries efficiently and provides paths, which are significantly faster than those currently used for bin-picking in the industry.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available