Localization of Workpieces by Robot Manipulators Using RFID Technology

The paper investigates an additional application of RFID technology (Radio Frequency Identification) in combination with industrial robots. Besides identification and data storage in transponders, it is also possible to use RFID to localize objects. Some examples can be found in the field of mobile robotics. In this contribution, RFID technology is applied to robotic manipulators. In a final Industry 4.0 scenario, they may create a map of objects in the work cell in parallel to their main task, such as handling or finishing. Therefore, this paper considers the possibilities of RFID-based object localization with an industrial robot, which is equipped with an RFID antenna. First, the localization in two dimensions is investigated by the additional modification of transmission power. Thereafter, the spatial position of a single transponder is estimated. Finally, multiple transponders are localized. All algorithms proposed in this paper are successfully verified by practical experiments and some ideas for further work are presented.