Robotic manipulation of food products – a review

Chua, Ping Yong; Ilschner, T.; Caldwell, Darwin G.

doi:10.1108/01439910310479612

Cited by 120 publications

(64 citation statements)

References 25 publications

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“…Typically these operations are important for object handling in a given dynamic environment and need to be conducted in a safe manner. Examples of applications include the packing of medical drugs, automation systems in the food industry (Chua et al (2003)) and the automation of production lines in the automotive industry (Jiang et al (2010), Scholer et al (2015)). …”

Section: Related Workmentioning

confidence: 99%

Multiple manipulators path planning using double A*

Tavares

Lima

Costa

et al. 2016

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If you would like to write for this, or any other Emerald publication, then please use our Emerald for Authors service information about how to choose which publication to write for and submission guidelines are available for all. Please visit www.emeraldinsight.com/authors for more information. About Emerald www.emeraldinsight.comEmerald is a global publisher linking research and practice to the benefit of society. The company manages a portfolio of more than 290 journals and over 2,350 books and book series volumes, as well as providing an extensive range of online products and additional customer resources and services.Emerald is both COUNTER 4 and TRANSFER compliant. The organization is a partner of the Committee on Publication Ethics (COPE) and also works with Portico and the LOCKSS initiative for digital archive preservation.*Related content and download information correct at time of download. Abstract. Purpose -Streamlining automated processes are currently undertaken by developing optimization methods and algorithms for robotic manipulators. In this paper a new approach to improve streamlining of automatic processes is presented. This new approach allows for multiple robotic manipulators commonly found in the industrial environment to handle different scenarios, thus providing a high flexibility solution to automated processes. Design/ Methodology / Approach -The developed system is based on a spatial discretization methodology capable of describing the surrounding environment of the robot, followed by a novel path planning algorithm. Gazebo was the simulation engine chosen and the robotic manipulator used was the universal robot 5 (UR5). The proposed system was tested using the premises of two robotic challenges: EuRoC and Amazon Picking Challenge. Findings The developed system was able to identify and describe the influence of each joint in the Cartesian space; and it was possible to control multiple robotic manipulators safely regardless of any obstacles in a given scene. Practical implications -This new system was tested in both real and simulated environments and data collected showed that this new system performed well in real life scenarios, such as EuRoC and Amazon Picking Challenge. Originality / Value The new proposed approach can be valuable in the robotics field with applications in various industrial scenarios, as it provides a flexible solution for multiple robotic manipulators path and motion planning.

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Section: Related Workmentioning

confidence: 99%

Multiple manipulators path planning using double A*

Tavares

Lima

Costa

et al. 2016

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“…The negative semi-definiteness of (K i ) s is therefore automatic as long as μ ≤ 2 √ 6, which clearly holds in most practical situations. 5 For instance, when μ = 1 the linear loading slope angle, denoted φ in Figure 3, must satisfy |φ| < 45…”

Section: Proofmentioning

confidence: 99%

“…Natural friction-compliance effects play a key role in several grasping applications. For instance, biomimetic multi-finger hands are currently being developed for handling delicate objects such as fruits and vegetables [5,43]. Such hands are typically designed with soft fingertips [3,31], and the determination of grasp stability during object handling is a key component of these systems [27,39,50].…”

Section: Introductionmentioning

confidence: 99%

On the mechanics of natural compliance in frictional contacts and its effect on grasp stiffness and stability

Shapiro

Rimon

Burdick

2004

IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004

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This paper considers the effect of natural material compliance on the stiffness and stability of frictional multi-contact grasps and fixtures. The contact preload profile is a key parameter in the nonlinear compliance laws governing such contacts. The paper introduces the Hertz-Walton contact compliance model which is valid for linear contact loading profiles. The model is specified in a lumped parameter form suitable for on-line grasping applications, and is entirely determined by the contact friction and by the material and geometric properties of the contacting bodies. The model predicts an asymmetric stiffening of the tangential reaction force as the normal load at the contact increases. As a result, the composite stiffness matrix of multi-contact grasps governed by natural compliance effects is asymmetric, indicating that these contact arrangements are not governed by any potential energy function. Based on the compliant grasp dynamics, the paper derives rules indicating which contact point locations and what preload profiles guarantee grasp and fixture stability. The paper also describes preliminary experiments supporting the contact model predictions.

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“…It is critical to design an appropriate gripper (end-effector) for robotic operations as the robots don't work without grippers. Significant efforts have been devoted to the development of robotic grippers for macro and micro manipulations in industrial manufacturing or production and medical/healthcare applications [2][3][4][5][6][7][8][9][10]. However it is difficult, if not possible, to find commercialized universal grippers that are capable of grasping and handing different objects as human hands do.…”

Section: Introductionmentioning

confidence: 99%

Robotic Tray-Handling in Medical Chewing Gum Production

Zhang¹,

Heide-Jørgensen²,

Frederiksen³

et al. 2016

World Congress on Mechanical, Chemical, and Material Engineering

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-This work presents a robotic solution to the automation of medical chewing gum production. The automation requirements are defined based on the discussions with the industrial customer, and then the concept design of a robotic system is conducted. In this paper, a robotic gripper has been developed to handle the trays in medical chewing gum production, and has been integrated to a safe and lightweight Universal Robot manipulator. The experimental testing has been performed using a UR5 robot arm to simulate the trayhandling in the process of medical chewing gum production: picking up, rotating, and placing down. The testing results are analyzed and demonstrate that the developed robotic solution and gripper meet the required tray-handling performance. The solution is accepted by the industrial partner for production testing.

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Robotic manipulation of food products – a review

Cited by 120 publications

References 25 publications

Multiple manipulators path planning using double A*

Multiple manipulators path planning using double A*

On the mechanics of natural compliance in frictional contacts and its effect on grasp stiffness and stability

Robotic Tray-Handling in Medical Chewing Gum Production

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