Cooperative bin-picking with Time-of-Flight camera and impedance controlled DLR lightweight robot III

S Fuchs, S Haddadin, M Keller, S Parusel, A Kolb, M Suppa
2010 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Because bin-picking effectively mirrors great challenges in robotics, it has been a relevant robotic showpiece application for several decades. This paper approaches the binpicking issue by applying the latest state-of-the-art hardware components, namely an impedance controlled light-weight robot and a Time-of-Flight camera. Lightweight robots have gained new capabilities in both sensing and actuation without suffering a decrease in speed and payload. Time-of-Flight cameras are superior to
more » ... n proximity sensors by providing depth and intensity images in video frame rate independent of textures. Furthermore, the bin-picking process presented here incorporates an environment model and allows for physical human-robot interaction. The existing imprecision in Time-of-Flight camera measurements is compensated by the compliant behavior of the robot. A generic state machine monitors the entire bin-picking process. This paper describes the computer vision algorithms in combination with the sophisticated control schemes of the robot and demonstrates a reliable and robust solution to the chosen problem.
doi:10.1109/iros.2010.5651046 dblp:conf/iros/FuchsHKPKS10 fatcat:jr7k7kfd2naphm3amqan47uqea