文章基本信息

标题：Virtual Commissioning of 6 DoF Pose Estimation and Robotic Bin Picking Systems for Industrial Parts
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作者：Maximilian Metzner ; Soeren Weissert ; Engin Karlidag 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2019
卷号：52
期号：10
页码：160-164
DOI：10.1016/j.ifacol.2019.10.040
语种：English
出版社：Elsevier
摘要：AbstractThe robotic handling of unsorted parts, also known as bin picking, is still a challenge in industrial automation. Many systems require physical testing and training, resulting in a long commissioning phase. In this paper, a concept for the testing and performance evaluation of bin picking systems based on industrial simulation software is introduced. The system utilizes physics simulation, virtual stereographic image rendering and kinematics as well as robot controller simulation. This enables a virtual software/hardware-in-the-loop verification and optimization of bin picking system performance. The concept is validated on major bin picking sub processes in a real-world industrial scenario in electronics production. It is found that the system correctly maps major effects influencing real bin picking systems. After concluding, further application fields for this new simulation concept are discussed.
关键词：KeywordsComputer VisionSystem DesignIntegrationFlexible Manufacturing Systems