Sorting of items on a moving conveyor belt. Part 2: performance evaluation and optimization of pick-and-place operations

Mattone, R.; Divona, M.; Wolf, Andreas

doi:10.1016/s0736-5845(99)00041-1

Cited by 41 publications

(24 citation statements)

References 5 publications

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“…Mattone, Campagiorni & Galati (2000) and Mattone, Divona & Wolf (2000) described the two fundamental principles of such operations: (1) sensing, detecting and classifying the objects to be handled and (2) gripping the identified objects. These two principles are relevant as they provide both feedback and actuation for the system.…”

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

View full text Add to dashboard Cite

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“…Although most researches have focused on single-robot conveyor systems [6,10,11], multi-robot systems are receiving increasing attention because of their high productivity. In previous studies, most researches focused on the coordination of multiple robots.…”

Section: Related Workmentioning

confidence: 99%

“…Part-dispatching rules (e.g., first-in first-out (FIFO) and shortest processing time (SPT)) have been used to control a single robot because of the rules' intuitive appeal, low control computation time, and ease of implementation [6]. Different part-dispatching rules can be used for the different robots in a multi-robot system (e.g., one possible combination of part-dispatching rules for a system with four robots is "FIFO, FIFO, SPT, SPT").…”

Section: Introductionmentioning

confidence: 99%

Robust multi-robot coordination in pick-and-place tasks based on part-dispatching rules

Huang¹,

Chiba²,

Arai³

et al. 2015

Robotics and Autonomous Systems

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“…In fact, several studies have been published whose focus was on pick and place operations and their optimization. Mattone et al described and clearly separated the two fundamental issues inherent to pick and place techniques (i) sensing, detecting and classifying the objects to be sorted and only then (ii) gripping [11].…”

Section: Related Workmentioning

confidence: 99%

Flexible pick and place architecture using ROS framework

Tavares

Sousa

2015

2015 10th Iberian Conference on Information Systems and Technologies (CISTI)

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The need for efficient automation methods has prompted the rapid development in the field of Robotics. The development of intelligent robots leads to the ability of them becoming an operator highly efficient and able to adapt to a wide range of problems. Still, despite of the several robotic solutions available, the majority of current industrial robots do not use the Robotic Operative System (ROS) and have limitations in terms of autonomously correct errors during their tasks. An important aspect to consider when developing a new robot is the selection of the methodology for recognition of the objects to be handled. In this paper, it will be presented an approach with enough flexibility to be potentially applicable to different scenarios of object recognition and handling normally found in industrial environment. The main aim is for this application to be applied to pick and place routines in robotics. Moreover it will be presented one particular case study that used the proposed approach, the European Robotics Challenges (EUROC) -a challenge aiming to develop a robot for shop floor logistics and manipulation. Our proposed approach is based on the three tiers paradigm: 1-recognition/sensing tier, 2-effector tier and 3-the control tier and was built using the ROS framework. Since ROS is becoming one of the most useful tools in robotics nowadays, the possibility of using a methodology able to be expressed in ROS allows for the development of a standard approach to pick and place operations. Another advantage of our proposed pick and place approach is the ability to have a robot safely and efficiently inserted in an unknown environment. This is possible due to the insertion of an adaptive control tier in our methodology. The proposed approach can be valuable in the field of robotics and can be potentially applied in multiple tasks and it has already allowed us to advance to the next stage of the already mention challenge.

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Sorting of items on a moving conveyor belt. Part 2: performance evaluation and optimization of pick-and-place operations

Cited by 41 publications

References 5 publications

Multiple manipulators path planning using double A*

Multiple manipulators path planning using double A*

Robust multi-robot coordination in pick-and-place tasks based on part-dispatching rules

Flexible pick and place architecture using ROS framework

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