Vision guided robot bin picking of cylindrical objects

Georg Kronborg Christensen, Carsten Dyhr-Nielsen

    Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

    Abstract

    In order to achieve increased flexibility on robotic production lines an investigation of the rovbot bin-picking problem is presented. In the paper, the limitations related to previous attempts to solve the problem are pointed uot and a set of innovative methods are presented. The main elements herein is the improved capabilities to handle cylindrical objects under various lightning conditions and cylinder materials and an improved accuracy in the determination of cylinder position and orientation. The present methods employ vision with structured light, basic geometric relations and vision sub-pixel precision methods to make a working system. Actual tests are presented using an ASEA 2000 robot.
    Original languageEnglish
    Title of host publicationRobotics, Motion and Machine Vision in the Automotive Industries
    Place of PublicationCroydon CRO, Ehgland
    PublisherAutomotive Automation Limited
    Publication date1997
    Pages243-250
    Publication statusPublished - 1997
    Event30'th iINternational Symposium on Automotive Technology and Automation - Florence, Italy
    Duration: 1 Jan 1997 → …

    Conference

    Conference30'th iINternational Symposium on Automotive Technology and Automation
    CityFlorence, Italy
    Period01/01/1997 → …

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