Abstract
This paper presents a robot system for performing pick and place operations with deformable objects. The system uses a structured light scanner to capture a point cloud of the object to be grasped. This point cloud is then analyzed to determine a pick and place action. Finally, the determined action is executed by the robot to solve the task. The robotic placement strategy contains several free parameters, which should be chosen in a context-specific manner. To determine these parameters we rely on simulation-based optimization of the individual use cases. The entire system is tested extensively in real world trials. First, the reliability of the grasp is evaluated for 7 different types of pork cuts. Then the validity of the simulation-based optimization of the placement strategy is evaluated for 2 of the most different pork cuts, to show the generality of the overall approach.
Original language | English |
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Journal | Journal of Intelligent and Robotic Systems: Theory and Applications |
Volume | 94 |
Issue number | 1 |
Pages (from-to) | 81-100 |
ISSN | 0921-0296 |
DOIs | |
Publication status | Published - 15 Apr 2019 |
Keywords
- Deformable objects
- Robotic manipulation
- Simulation-based optimization
- Structured light scanner
- Vision-based meat analysis