文章基本信息

标题：Robotic Picking of Cylindrical Fuel Pellets from a Boat Using 3D Range Sensor
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作者：Rahul Jain ; Abhishek Jaju ; Namita Singh 等
期刊名称：International Journal of Mechatronics, Electrical and Computer Technology
印刷版ISSN：2305-0543
出版年度：2016
卷号：6
期号：19
页码：2682-2688
出版社：Austrian E-Journals of Universal Scientific Organization
摘要：Fabrication of nuclear fuels comprises many intricate tasks that are difficult to automate. One such task is picking of cylindrical pellets from a container, called a boat. In the boat, pellets can be randomly oriented, touching and partly or wholly occluded. They have poor contrast with respect to each other and the boat. Hence, vision based techniques with either monocular or stereo camera configurations are not suitable for identification of pellet poses. This paper describes a novel technique in which 3D point cloud data is acquired by a 3D range sensor, and processed with optimized RANSAC (O-RANSAC) algorithm for estimating pellet poses for the robot to pick. First, cylinders are identified from point cloud data, and thereafter scores indicating the extent of matching is computed. We also present the improvement in processing time for O-RANSAC algorithm as compared to RANSAC. We demonstrate that O-RANSAC algorithm is robust even in presence of outliers and noise by testing in simulation with synthetic data. Proposed method was tested in an experimental setup consisting of an articulated robot, a 3D range sensor and dummy densely packed pellets in multilayer
关键词：Bin picking; Robot; 3D point cloud; RANSAC