A Collaborative Robot Cell for Random Bin-picking based on Deep Learning Policies and a Multi-gripper Switching Strategy

Albert Sonne Olesen, Benedek Benjamin Gergaly, Emil Albin Ryberg, Mads Riis Thomsen, Dimitrios Chrysostomou*

*Kontaktforfatter

Publikation: Bidrag til tidsskriftKonferenceartikel i tidsskriftForskningpeer review

12 Citationer (Scopus)
101 Downloads (Pure)

Abstract

This paper presents the details of a collaborative robot cell assembled with off-the-shelf components designed for random bin-picking and robotic assembly applications. The proposed work investigates the benefits of combining an advanced RGB-D vision system and deep learning policies with a collaborative robot for the assembly of a mobile phone. An optimised version of YOLO is used to detect the arbitrarily placed components of the mobile phone on the working space. In order to overcome the challenges of grasping the various components of the mobile phone, a multi-gripper switching strategy is implemented using suction and multiple fingertips. Finally, the preliminary experiments performed with the proposed robot cell demonstrate that the increased learning capabilities of the robot achieve high performance in identifying the respective components of the mobile phone, grasping them accurately and performing the final assembly successfully.
OriginalsprogEngelsk
TidsskriftProcedia Manufacturing
Vol/bind51
Sider (fra-til)3-10
Antal sider8
ISSN2351-9789
DOI
StatusUdgivet - 19 nov. 2020
Begivenhed30th International Conference on Flexible Automation and Intelligent Manufacturing - Athens, Grækenland
Varighed: 15 jun. 202118 jun. 2021
https://www.faimconference.org/

Konference

Konference30th International Conference on Flexible Automation and Intelligent Manufacturing
Land/OmrådeGrækenland
ByAthens
Periode15/06/202118/06/2021
Internetadresse

Fingeraftryk

Dyk ned i forskningsemnerne om 'A Collaborative Robot Cell for Random Bin-picking based on Deep Learning Policies and a Multi-gripper Switching Strategy'. Sammen danner de et unikt fingeraftryk.

Citationsformater