Generic Development of Bin Pick-and-Place System Based on Robot Operating System

Wong, Ching‐Chang; Tsai, Chi-Yi; Chen, Ren-Jie; Chien, Shao-Yu; Yang, Yi-He; Wong, Shang-Wen; Yeh, C.W.

doi:10.1109/access.2022.3182114

Cited by 13 publications

(11 citation statements)

References 35 publications

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“…The studies' results show that the manipulator's tip may achieve a variety of positions, including an upward position defying gravity, illustrating the possible uses for manipulators modeled like ostriches. Some papers discussed novel techniques, including fruit harvesting [154], spraying process enhancement [155], robotic inspection with obstacle avoidance [156], and pick and place applications [157], [158].…”

Section: Fault Tolerancementioning

confidence: 99%

In-Depth Review of Advanced Control Strategies and Cutting-Edge Trends in Robot Manipulators: Analyzing the Latest Developments and Techniques

Abdelmaksoud,

Al-Mola,

Abro

et al. 2024

IEEE Access

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It is undeniable that the development of robot manipulators has gained significant attention due to its numerous applications in various sectors. In order to address and resolve several issues for robotic manipulators, this paper provides a review of recent control approaches that have been conducted. In the beginning, a succinct comprehensive introduction of the pertinent terminology, configurations, components, advantages/disadvantages, and applications is given. A state-of-the-art review of the various control strategies for robotic manipulator systems is then presented, along with potential solutions when the systems are faced with various obstacles and impediments. An analytical study is discussed showing percentages of the papers discussed in this study in terms of the different control strategies, link types, models, applications, and degrees of freedom of robotic manipulators. For academic, research, medical, and industrial uses, some off-the-shelf developments in robotic manipulators are also presented.

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Section: Fault Tolerancementioning

confidence: 99%

In-Depth Review of Advanced Control Strategies and Cutting-Edge Trends in Robot Manipulators: Analyzing the Latest Developments and Techniques

Abdelmaksoud,

Al-Mola,

Abro

et al. 2024

IEEE Access

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“…The PPP configuration is not feasible due to the lack of independence. The end effectors are situated at the centroid of the internal triangle of the robot, enabling it to perform tasks in soft robotics [14,15], traditional pick-and-place operations [16], and even medical applications [17]. The particular 3RRR symmetric planar robot studied in this work is shown in Figure 2.…”

Section: Planar Parallel Robotsmentioning

confidence: 99%

Direct and Inverse Kinematics of a 3RRR Symmetric Planar Robot: An Alternative of Active Joints

Cardona,

Canales-Verdial

et al. 2024

Symmetry

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Existing direct and inverse kinematic models of planar parallel robots assume that the robot’s active joints are all at the bases. However, this approach becomes excessively complex when modeling a planar parallel robot in which the active joints are within one single kinematic chain. To address this problem, our article unveils an alternative for a 3RRR symmetric planar robot modeling technique for the derivation of the robot workspace and the analysis of its direct and inverse kinematics. The workspace was defined using a system of inequalities, and the direct and inverse kinematics models were generated using vectorial analysis and an optimized geometrical approach, respectively. The resulting models are systematically presented and validated. Two final model renditions are delivered supplying a thorough equation analysis and an applicability discussion based on the importance of the robot’s mobile platform orientation. The advantages of this model are discussed in comparison to the traditional modeling approach: whereas conventional techniques require the solution of complex eighth-degree polynomials for the analysis of the active joint configuration of these robots, these models provide an efficient back-of-the-envelope analysis approach that requires the solution of a simple second-degree polynomial.

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“…In contrast, Zhuang et al (4) demonstrated faster algorithmic speed, albeit with lower object detection accuracy. Conversely, Wong et al (5) achieved high object detection accuracy but observed limitations in object pose estimation accuracy. Remarkably, all these studies employed single-view approaches for object detection and pose estimation.…”

Section: Introductionmentioning

confidence: 99%

Hybrid Deep Learning and FAST–BRISK 3D Object Detection Technique for Bin-picking Application

Taweesoontorn,

Yanyong,

Konghuayrob

2024

Sensors and Materials

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In the field of industrial robotics, robotic arms have been significantly integrated, driven by their precise functionality and operational efficiency. We here propose a hybrid method for binpicking tasks using a collaborative robot, or cobot combining the You Only Look Once version 5 (YOLOv5) convolutional neural network (CNN) model for object detection and pose estimation with traditional feature detection based on the features from accelerated segment test (FAST) technique, feature description using binary robust invariant scalable keypoints (BRISK) algorithms, and matching algorithms. By integrating these algorithms and utilizing a low-cost depth sensor camera for capturing depth and RGB images, the system enhances real-time object detection and pose estimation speed, facilitating accurate object manipulation by the robotic arm. Furthermore, the proposed method is implemented within the robot operating system (ROS) framework to provide a seamless platform for robotic control and integration. We compared our results with those of other methodologies, highlighting the superior object detection accuracy and processing speed of our hybrid approach. This integration of robotic arm, camera, and AI technology contributes to the development of industrial robotics, opening up new possibilities for automating challenging tasks and improving overall operational efficiency.

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Generic Development of Bin Pick-and-Place System Based on Robot Operating System

Cited by 13 publications

References 35 publications

In-Depth Review of Advanced Control Strategies and Cutting-Edge Trends in Robot Manipulators: Analyzing the Latest Developments and Techniques

In-Depth Review of Advanced Control Strategies and Cutting-Edge Trends in Robot Manipulators: Analyzing the Latest Developments and Techniques

Direct and Inverse Kinematics of a 3RRR Symmetric Planar Robot: An Alternative of Active Joints

Hybrid Deep Learning and FAST–BRISK 3D Object Detection Technique for Bin-picking Application

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