Akademska digitalna zbirka SLovenije - logo
VSE knjižnice (vzajemna bibliografsko-kataložna baza podatkov COBIB.SI)
  • Robotic bin-picking [Elektronski vir] : benchmarking robotics grippers with modified YCB object and model set
    Lerher, Tone ...
    Robotic bin-picking is increasingly important in the order-picking process in intralogistics. However, many aspects of the robotic bin-picking process (object detection, grasping, manipulation) still ... require the research community's attention. Established methods are used to test robotic grippers, enabling comparability of the research community's results. This study presents a modified YCB Robotic Gripper Assessment Protocol that was used to evaluate the performance of four robotic grippers (twofingered, vacuum, gecko, and soft gripper). During the testing, 45 objects from the modified YCB Object and Model Set from the packaging categories, tools, small objects, spherical objects, and deformable objects were grasped and manipulated. The results of the robotic gripper evaluation show that while some robotic grippers performed substantially well, there is an expressive grasp success variation over diverse objects. The results indicate that selecting the object grasp point next to selecting the most suitable robotic gripper is critical in successful object grasping. Therefore, we propose grasp point determination using mechanical software simulation with a model of a two-fingered gripper in an ADAMS/MATLAB cosimulation. Performing software simulations for this task can save time and give comparable results to real-world experiments.
    Vir: Progress in material handling research [Elektronski vir] : 16th proceedings : International Material Handling Research Colloquium, Dresden, Germany, [19-23 June] 2023 (Str. [1-8])
    Vrsta gradiva - prispevek na konferenci ; neleposlovje za odrasle
    Leto - 2023
    Jezik - angleški
    COBISS.SI-ID - 164083203

    Povezava(-e):

    https://digitalcommons.georgiasouthern.edu/pmhr_2023/9/
    https://digitalcommons.georgiasouthern.edu/imhrc/2023/2023/10/
    Digitalna knjižnica Univerze v Mariboru – DKUM

Vnos na polico