Primož Bencak (Avtor), Darko Hercog (Avtor), Tone Lerher (Avtor)

Povzetek

Robotic bin-picking performance has been gaining attention in recent years with the development of increasingly advanced camera and machine vision systems, collaborative and industrial robots, and sophisticated robotic grippers. In the random bin-picking process, the wide variety of objects in terms of shape, weight, and surface require complex solutions for the objects to be reliably picked. The challenging part of robotic bin-picking is to determine object pick-points correctly. This paper presents a simulation model based on ADAMS/MATLAB cosimulation for robotic pick-point evaluation for a 2-F robotic gripper. It consists of a mechanical model constructed in ADAMS/View, MATLAB/Simulink force controller, several support functions, and the graphical user interface developed in MATLAB/App Designer. Its functionality can serve three different applications, such as: (1) determining the optimal pick-points of the object due to object complexity, (2) selecting the most appropriate robotic gripper, and (3) improving the existing configuration of the robotic gripper (finger width, depth, shape, stroke width, etc.). Additionally, based on this analysis, new variants of robotic grippers can be proposed. The simulation model has been verified on a selected object on a sample 2-F parallel robotic gripper, showing promising results, where up to 75% of pick-points were correctly determined in the initial testing phase.

Ključne besede

intralogistika;robotsko komisioniranje;simulacijski model;ADAMS;določevanje prijemne točke;MATLAB/Simulink;dvo-prstno prijemalo;analiza delovanja;intralogistics;robotic bin-picking;simulation model;pick-point determination;2-F robotic gripper;performance analysis;

Podatki

Jezik: Angleški jezik
Leto izida:
Tipologija: 1.01 - Izvirni znanstveni članek
Organizacija: UM FL - Fakulteta za logistiko
Založnik: MDPI
UDK: 004.942:658.78
COBISS: 143295491 Povezava se bo odprla v novem oknu
ISSN: 2076-3417
Št. ogledov: 630
Št. prenosov: 62
Ocena: 0 (0 glasov)
Metapodatki: JSON JSON-RDF JSON-LD TURTLE N-TRIPLES XML RDFA MICRODATA DC-XML DC-RDF RDF

Ostali podatki

Sekundarni jezik: Slovenski jezik
Sekundarne ključne besede: intralogistika;robotsko komisioniranje;simulacijski model;ADAMS;določevanje prijemne točke;MATLAB/Simulink;dvo-prstno prijemalo;analiza delovanja;
Vrsta dela (COBISS): Članek v reviji
Strani: str. 1-29
Letnik: ǂVol. ǂ13
Zvezek: ǂiss. ǂ4, [article no.] 2599
Čas izdaje: Feb. 2023
DOI: 10.3390/app13042599
ID: 18112296