Reconfigurable Grasp Planning Pipeline with Grasp Synthesis and Selection Applied to Picking Operations in Aerospace Factories. (February 2021)
- Record Type:
- Journal Article
- Title:
- Reconfigurable Grasp Planning Pipeline with Grasp Synthesis and Selection Applied to Picking Operations in Aerospace Factories. (February 2021)
- Main Title:
- Reconfigurable Grasp Planning Pipeline with Grasp Synthesis and Selection Applied to Picking Operations in Aerospace Factories
- Authors:
- Carvalho de Souza, João Pedro
Costa, Carlos M.
Rocha, Luís F.
Arrais, Rafael
Moreira, A. Paulo
Pires, E.J. Solteiro
Boaventura-Cunha, José - Abstract:
- Highlights: Modular, re-configurable and flexible robot grasping planning pipeline; Introduction and review of multi-fingered grasping and simulated annealing theory; Real industrial application results with an Aerospace test-case. Abstract: Several approaches with interesting results have been proposed over the years for robot grasp planning. However, the industry suffers from the lack of an intuitive and reliable system able to automatically estimate grasp poses while also allowing the integration of grasp information from the accumulated knowledge of the end user. In the presented paper it is proposed a non-object-agnostic grasping pipeline motivated by picking use cases from the aerospace industry. The planning system extends the functionality of the simulated annealing optimization algorithm for allowing its application within an industrial use case. Therefore, this paper addresses the first step of the design of a reconfigurable and modular grasping pipeline. The key idea is the creation of an intuitive and functional grasping framework for being used by factory floor operators according to the task demands. This software pipeline is capable of generating grasp solutions in an offline phase, and later on, in the robot operation phase, can choose the best grasp pose by taking into consideration a set of heuristics that try to achieve a successful grasp while also requiring the least effort for the robotic arm. The results are presented in a simulated and a real factoryHighlights: Modular, re-configurable and flexible robot grasping planning pipeline; Introduction and review of multi-fingered grasping and simulated annealing theory; Real industrial application results with an Aerospace test-case. Abstract: Several approaches with interesting results have been proposed over the years for robot grasp planning. However, the industry suffers from the lack of an intuitive and reliable system able to automatically estimate grasp poses while also allowing the integration of grasp information from the accumulated knowledge of the end user. In the presented paper it is proposed a non-object-agnostic grasping pipeline motivated by picking use cases from the aerospace industry. The planning system extends the functionality of the simulated annealing optimization algorithm for allowing its application within an industrial use case. Therefore, this paper addresses the first step of the design of a reconfigurable and modular grasping pipeline. The key idea is the creation of an intuitive and functional grasping framework for being used by factory floor operators according to the task demands. This software pipeline is capable of generating grasp solutions in an offline phase, and later on, in the robot operation phase, can choose the best grasp pose by taking into consideration a set of heuristics that try to achieve a successful grasp while also requiring the least effort for the robotic arm. The results are presented in a simulated and a real factory environment, relying on a mobile platform developed for intralogistic tasks. With this architecture, new state-of-art methodologies can be integrated in the future for growing the grasping pipeline and make it more robust and applicable to a wider range of use cases. … (more)
- Is Part Of:
- Robotics and computer-integrated manufacturing. Volume 67(2021)
- Journal:
- Robotics and computer-integrated manufacturing
- Issue:
- Volume 67(2021)
- Issue Display:
- Volume 67, Issue 2021 (2021)
- Year:
- 2021
- Volume:
- 67
- Issue:
- 2021
- Issue Sort Value:
- 2021-0067-2021-0000
- Page Start:
- Page End:
- Publication Date:
- 2021-02
- Subjects:
- Grasping Pipeline -- Robot Pick and Place -- Manufacturing Robot Processes
Robots, Industrial -- Periodicals
Computer integrated manufacturing systems -- Periodicals
Robotics -- Periodicals
Robots industriels -- Périodiques
Productique -- Périodiques
Robotique -- Périodiques
670.285 - Journal URLs:
- http://www.sciencedirect.com/science/journal/07365845 ↗
http://www.elsevier.com/journals ↗
http://www.journals.elsevier.com/robotics-and-computer-integrated-manufacturing/ ↗ - DOI:
- 10.1016/j.rcim.2020.102032 ↗
- Languages:
- English
- ISSNs:
- 0736-5845
- Deposit Type:
- Legaldeposit
- View Content:
- Available online (eLD content is only available in our Reading Rooms) ↗
- Physical Locations:
- British Library DSC - 8000.453200
British Library DSC - BLDSS-3PM
British Library HMNTS - ELD Digital store - Ingest File:
- 14030.xml