HiL-Simulator für den industriellen „Griff in die Kiste”*/HiL simulator for industrial bin picking

2017 ◽  
Vol 107 (10) ◽  
pp. 767-772
Author(s):  
S. Fur ◽  
C. Scheifele ◽  
A. Pott ◽  
A. Prof. Verl
Keyword(s):  
Object Detection ◽  
Motion Planning ◽  
Motion Control ◽  
Software Tools ◽  
Robotic Systems ◽  
Intelligent Algorithms ◽  
Simulation Based ◽  
Bin Picking

Beim „Griff in die Kiste“ kommen Robotersysteme mit intelligenten Algorithmen für die Objekterkennung, Bewegungsplanung und Bewegungssteuerung zum Einsatz. Auf dem Markt gibt es derzeit verschiedene Softwaretools, die sich mit der Steuerung solcher Systeme beschäftigen. Um die steigende Komplexität zu beherrschen und die Auslegung der Systeme zu optimieren, wird ein simulationsgestütztes Werkzeug zur simulationsbasierten Inbetriebnahme benötigt. Dieser Beitrag stellt ein Konzept für eine umfassende virtuelle Absicherung des industriellen „Griffs in die Kiste“ vor.   Robotic systems with intelligent algorithms for object detection, motion planning and motion control are used in bin picking. Various software tools which deal with the control of such systems, are available on the market. To manage the increasing complexity and to optimize the design of the systems, a simulation-based tool is required for simulation-based commissioning. This paper presents a concept for a comprehensive virtual security solution for industrial bin picking.

Mapping, localization and motion planning in mobile multi-robotic systems

Robotica ◽  
2012 ◽  
Vol 31 (1) ◽  
pp. 1-23 ◽  
Author(s):  
William Rone ◽  
Pinhas Ben-Tzvi
Keyword(s):  
Motion Planning ◽  
System Design ◽  
Motion Control ◽  
State Of The Art ◽  
Simultaneous Localization And Mapping ◽  
Robotic System ◽  
The State ◽  
Robotic Systems ◽  
System Research ◽  
Localization And Mapping

SUMMARYAs researchers have pushed the limits of what can be accomplished by a single robot operating in a known or unknown environment, a greater emphasis has been placed on the utilization of mobile multi-robotic systems to accomplish various objectives. In transitioning from a robot-centric approach to a system-centric approach, considerations must be made for the computational and communicative aspects of the group as a whole, in addition to electromechanical considerations of individual robots. This paper reviews the state-of-the-art of mobile multi-robotic system research, with an emphasis on the confluence of mapping, localization and motion control of robotic system. Methods that compose these three topics are presented, including areas of overlap, such as integrated exploration and simultaneous localization and mapping. From these methods, an analysis of benefits, challenges and tradeoffs associated with multi-robotic system design and use are presented. Finally, specific applications of multi-robotic systems are also addressed in various contexts.

scholarly journals Object Detection And Autoencoder-Based 6d Pose Estimation For Highly Cluttered Bin Picking

2021 ◽  
Author(s):  
Timon Hofer ◽  
Faranak Shamsafar ◽  
Nuri Benbarka ◽  
Andreas Zell
Keyword(s):  
Object Detection ◽  
Pose Estimation ◽  
Bin Picking

Construction of program movements of two!handed technological robots

2021 ◽  
pp. 44-50
Author(s):  
Keyword(s):  
Motion Control ◽  
Relative Motion ◽  
Control Algorithm ◽  
Robotic Systems ◽  
And Control

Some issues of creation and control of two-handed robotic systems are considered. Keywords: two-handed robot, relative manipulation mechanism, relative motion, control algorithm, assembly [email protected]

A Novel 3-DOF Parallel Robot and its Kinematic Analysis

2014 ◽  
Vol 607 ◽  
pp. 759-763
Author(s):  
Xiao Bo Liu ◽  
Xiao Dong Yuan ◽  
Xiao Feng Wei ◽  
Wei Ni
Keyword(s):  
Motion Control ◽  
Kinematic Analysis ◽  
Degrees Of Freedom ◽  
Parallel Robot ◽  
Degree Of Freedom ◽  
The Novel ◽  
Forward Displacement ◽  
Simulation Based ◽  
Simulation Results

This paper deals with the design and analysis of a novel and simple two-translation and one-rotation (3 degrees of freedom, 3-dof) mechanism for alignment. Firstly, degree of freedom of the parallel robot is solved based on the theory of screw. Secondly considering the demand of motion control, we have conducted the analysis on the 3-dof parallel robot, which includes inverse displacement, forward displacement, and simulation based on SolidWorks Motion. The simulation results indicate that the novel 3-dof robot is suitable for performing the required operations.

Motion planning of a quadrotor robot game using a simulation-based projected policy iteration method

2019 ◽  
Vol 20 (4) ◽  
pp. 525-537
Author(s):  
Li-dong Zhang ◽  
Ban Wang ◽  
Zhi-xiang Liu ◽  
You-min Zhang ◽  
Jian-liang Ai
Keyword(s):  
Motion Planning ◽  
Iteration Method ◽  
Policy Iteration ◽  
Simulation Based ◽  
Quadrotor Robot

scholarly journals Vision-Based Multirotor Following Using Synthetic Learning Techniques

Sensors ◽  
2019 ◽  
Vol 19 (21) ◽  
pp. 4794
Author(s):  
Alejandro Rodriguez-Ramos ◽  
Adrian Alvarez-Fernandez ◽  
Hriday Bavle ◽  
Pascual Campoy ◽  
Jonathan P. How
Keyword(s):  
Reinforcement Learning ◽  
Object Detection ◽  
Learning Strategies ◽  
Motion Control ◽  
Domain Adaptation ◽  
Control Strategies ◽  
Synthetic Data ◽  
Real Data ◽  
Stable Convergence ◽  
Learning Techniques

Deep- and reinforcement-learning techniques have increasingly required large sets of real data to achieve stable convergence and generalization, in the context of image-recognition, object-detection or motion-control strategies. On this subject, the research community lacks robust approaches to overcome unavailable real-world extensive data by means of realistic synthetic-information and domain-adaptation techniques. In this work, synthetic-learning strategies have been used for the vision-based autonomous following of a noncooperative multirotor. The complete maneuver was learned with synthetic images and high-dimensional low-level continuous robot states, with deep- and reinforcement-learning techniques for object detection and motion control, respectively. A novel motion-control strategy for object following is introduced where the camera gimbal movement is coupled with the multirotor motion during the multirotor following. Results confirm that our present framework can be used to deploy a vision-based task in real flight using synthetic data. It was extensively validated in both simulated and real-flight scenarios, providing proper results (following a multirotor up to 1.3 m/s in simulation and 0.3 m/s in real flights).

Unknown System Dynamics Estimator for Motion Control of Nonlinear Robotic Systems

2020 ◽  
Vol 67 (5) ◽  
pp. 3850-3859 ◽  
Author(s):  
Jing Na ◽  
Baorui Jing ◽  
Yingbo Huang ◽  
Guanbin Gao ◽  
Chao Zhang
Keyword(s):  
System Dynamics ◽  
Motion Control ◽  
Robotic Systems ◽  
Unknown System
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