A Safe and Energy Efficient Robotic System for Industrial Automatic Tests on Domestic Appliances: Problem Statement and Proof of Concept

Bedada, Wendwosen Bellete; Kalawoun, Rawan; Ahmadli, Ismayil; Palli, Gianluca

doi:10.1016/j.promfg.2020.10.064

Cited by 2 publications

(1 citation statement)

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“…A 7-DoFs robot arm is exploited for the implementation of the task under investigation. The arm is velocity controlled and, for grasp execution, the redundancy of the arm is exploited in the task-priority framework in such a way that low priority tasks are fulfilled in the null space of higher priority tasks [20]. The tasks implemented in the controller are, from the higher to lower priority, joint limit avoidance, end-effector pose control, elbow pose control, singularity avoidance and velocity minimizer task.…”

Section: Task-priority Based Grasp Executionmentioning

confidence: 99%

A Cyber-Physical System for Clothes Detection, Manipulation and Washing Machine Loading

Caporali

Bedada

Palli

2021

2021 4th IEEE International Conference on Industrial Cyber-Physical Systems (ICPS)

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In this paper, a cyber-physical system for the detection and manipulation of clothes and its application to the problem of their robotized insertion in a washing machine drum is presented. Starting with the clothes randomly placed inside a bin next to the appliance, the method describes the approach used for the laundry bin picking together with a recovery picking from the drum door region in case some large cloth remains partially out from the washing machine. The same pointcloud-based perception algorithm is utilized for both tasks: the approaches are different only for what concerns the segmentation of the pointcloud for the extraction of the cloth-related points. The main algorithm exploits a wrinkledness measure to identify wrinkles in the cloth surface, to robustly assign spline curves to the detected wrinkle-like structure and to estimate grasping frames. In addition, a pointcloud registration technique is applied in the washing machine recovery task for the segmentation stage. The planning of the robot operations to execute the cloth grasping is also presented. The approach has been validated extensively by performing 100 trials grasps for both tasks.

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Section: Task-priority Based Grasp Executionmentioning

confidence: 99%