Visual marker-guided mobile robot solution for automated item picking in a warehouse

Causo, Albert; Chong, Zheng-Hao; Luxman, Ramamoorthy; Chen, I‐Ming

doi:10.1109/aim.2017.8014018

Cited by 8 publications

(3 citation statements)

References 12 publications

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“…Relevant examples of mobile robotics in industry are provided by the Amazon Picking Challenge (APC), for the autonomous picking of 25 different objects [12]. For this challenge, a solution is proposed in [13] in which a collaborative robot is installed on a vertical frame transported by a mobile base; the serial arm is equipped with a suction gripper with 2 Degrees of Freedom (DoF) to optimize the product picking point. Instead, in [14] a collaborative robot with 7 DoF is installed on a mobile base with holonomic motion capabilities, and it is equipped with a modified vacuum gripper.…”

Section: Introductionmentioning

confidence: 99%

A Mobile Robotized System for Depalletizing Applications: Design and Experimentation

et al. 2021

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In this paper, a mobile manipulation system for automatized logistic applications is presented. The robotic system is specifically designed for depalletizing/palletizing tasks, namely is product extraction from homogeneous pallets and assembly of new heterogeneous pallets. The robotic system is mainly composed by an autonomous vehicle, a collaborative robotic arm and a lifting device, which is able to collect products from different pallet layers. The handling strategy is not based on lifting items, as in classical pick-and-place operations, but on dragging them aboard the mobile vehicle. As the payload weight is not supported by the arm, the overall robotic system is very light compared to the manipulated items, which is a paramount benefit for a mobile collaborative application. This paper presents the mechanical design, the hardware selection and the experimentation in a laboratory scenario, thus demonstrating the effectiveness of the proposed manipulation strategy.

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Section: Introductionmentioning

confidence: 99%

A Mobile Robotized System for Depalletizing Applications: Design and Experimentation

et al. 2021

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“…Mobile robots are now capable of working in a variety of fields, including industry and logistics (Cardarelli et al, 2017;Causo et al, 2017;Nielsen et al, 2017), welfare and nursing care (Gross et al, 2017;Saegusa et al, 2010;Tobita et al, 2018), and agriculture and forestry (Masuzawa et al, 2017;Sori et al, 2018;Tanaka et al, 2017). Conventional mobile robots utilize wheels driven in one direction by a motor or wheels steerable around the ground contact point.…”

Section: Introductionmentioning

confidence: 99%

Control of an omnidirectional mobile robot with wheels connected by passive sliding joints

Terakawa

Komori

Fujimoto

2019

JAMDSM

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To solve problems of conventional mobile robots, such as constrained mobility due to nonholonomic wheels or complicated structure due to specialized wheels, we propose a novel omnidirectional mobile robot named slidable-wheeled omnidirectional mobile robot (SWOM). SWOM has three conventional wheels connected to the main body by passive sliding joints, which enable the main body to make omnidirectional movement in spite of the nonholonomic constraints on the wheels. Thus, SWOM achieves both superb mobility and simple structure. However, its behavior is described as a nonlinear system with nonholonomic constraints, which has difficulty with control because this type of system does not have a general design method for a stabilizing controller. This study aims to develop a controller for SWOM using state feedback linearization. This paper presents the following achievements: An exactly linearized state equation is derived using feedback and coordinate transformation based on the kinematics of SWOM. The unwanted singular configurations of the system are discussed and a control strategy to avoid them is proposed. Then, a stabilizing controller that enables SWOM to reach a designated position and orientation is designed. Through a numerical simulation and an experiment using a SWOM prototype, the effectiveness of the developed control system was verified.

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“…5 Amazon robotics challenge Correll et al, 2016Hitachi Ltd., 2018Magazino GmbH, 2016Causo et al, 2017Holz et al, 2014 Amazon MonotaRo Enright andWurman, 2011 Hitachi Ltd., 2016 Beijing Geekplus Technology Co. Ltd., 2019 6…”

mentioning

confidence: 99%

Simultaneous transportation of multiple shelves by single mobile robot and passive docking mechanism

Wakabayashi

Kinugawa

Kamioka

et al. 2021

Transactions of the JSME (In Japanese)

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In logistics warehouses, Goods-to-Person systems (i.e., kitting transport systems) and workers work together in order to improve the efficiency of kitting (also called "picking") tasks. On the other hand, in assembly factories that also require kitting tasks, Goods-to-Person systems have not yet been implemented. We propose a novel robot co-worker called Kitting Parts Delivery system (i.e., KitPaDY) to expedite work processes at assembly factories. Unlike existing Goods-to-Person systems that are designed to use a mobile robot to transfer a single shelf at a time, KitPaDY adopts a novel mechanism that enables a single mobile robot to transfer multiple shelves simultaneously. The mechanism is mounted on every shelf and does not need any power. Rather, it uses the drive of a mobile robot to group shelves together; this also simplifies the control of the mobile robot. Here, we describe the mechanism behind KitPaDY and the mobile robot's motion. Furthermore, we conducted an experiment to gauge KitPaDY's ability to simultaneously transport multiple shelves. Additionally, by comparing KitPaDY with existing transport systems for current kitting processes, we demonstrated our system's efficacy in the simulations. The simulation results show that KitPaDY can reduce the required number of mobile robots by 75% compared to existing transport systems.

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Visual marker-guided mobile robot solution for automated item picking in a warehouse

Cited by 8 publications

References 12 publications

A Mobile Robotized System for Depalletizing Applications: Design and Experimentation

A Mobile Robotized System for Depalletizing Applications: Design and Experimentation

Control of an omnidirectional mobile robot with wheels connected by passive sliding joints

Simultaneous transportation of multiple shelves by single mobile robot and passive docking mechanism

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