Bin picking is a highly researched topic, due to the need for automated procedures in industrial environments. A general bin system requires structured process, starting with data acquisition, and ending pose estimation grasping. high number of problems are being presently solved, through deep learning networks, combined distinct procedures. This study provides comprehensive review approaches, implemented problems. Throughout described several approaches methods based on specific domains,...

Manufacturing and production industries are increasingly turning to robots carry out repetitive picking operations in an efficient manner. This paper focuses on tackling the novel challenge of automating bin process for entangled objects, which there is very little research. The chosen case study sets freely curved tubes, prone occlusions entanglement. proposed algorithm builds a representation tubes as ordered list cylinders joints using point cloud acquired by 3D scanner. enables detection...

Bin picking is a challenging task involving many research domains within the perception and grasping fields, for which there are no perfect reliable solutions available that applicable to wide range of unstructured cluttered environments present in industrial factories logistics centers. This paper contributes with on topic object segmentation scenarios, independent previous shape knowledge, textured textureless objects. In addition, it addresses demand extended datasets deep learning tasks...

Planning the optimal assembly and disassembly sequence plays a critical role when optimizing production, maintenance recycling of products. For tackling this problem, recursive branch-and-bound algorithm was developed for finding plan. It takes into consideration traveling distance robotic end effector along with cost penalty it needs to be changed. The precedences part decoupling directions are automatically computed in proposed geometric reasoning engine by analyzing spatial relationships...

Reliable banknote recognition is critical for detecting counterfeit banknotes in ATMs and help visual impaired people. To solve this problem, it was implemented a computer vision system that can recognize multiple different perspective views scales, even when they are within cluttered environments which the lighting conditions may vary considerably. The also able to partially visible, folded, wrinkled or worn by usage. accomplish task, relies on algorithms, such as image preprocessing,...

Machine vision systems are widely used in assembly lines for providing sensing abilities to robots allow them handle dynamic environments. This paper presents a comparison of 3D sensors evaluating which one is best suited usage machine system robotic fastening operations within an automotive line. The perception necessary taking into account the position uncertainty that arises from vehicles being transported aerial conveyor. Three with different working principles were compared, namely...

Teaching industrial robots by demonstration can significantly decrease the repurposing costs of assembly lines worldwide. To achieve this goal, robot needs to detect and track each component with high accuracy. speedup initial object recognition phase, learning system gather information from manuals in order identify which parts tools are required for assembling a new product (avoiding exhaustive search large model database) if possible also extract spatial relation between them. This paper...

Self-localization of mobile robots in the environment is one most fundamental problems robotics field. It a complex and challenging problem due to high requirements autonomous vehicles, particularly with regard algorithms accuracy, robustness computational efficiency. In this paper we present comparison two used map-matching algorithm, which are Iterative Closest Point Perfect Match. This category normally applied localization based on natural landmarks. They were compared using an extensive...

Teaching complex assembly and maintenance skills to human operators usually requires extensive reading the help of tutors. In order reduce training period avoid need for supervision, an immersive teaching system using spatial augmented reality was developed guiding inexperienced operators. The provides textual video instructions each task while also allowing operator navigate between steps control playback a bare hands natural interaction interface that is projected into workspace. Moreover,...

Bin picking is a challenging problem that involves using robotic manipulator to remove, one-by-one, set of objects randomly stacked in container. In order provide ground truth data for evaluating heuristic or machine learning perception systems, this paper proposes simulation create bin environments which procedural generation method builds entangled tubes can have curvatures throughout their length. The output the an annotated point cloud, generated by virtual 3D depth camera, are assigned...

Background: Industry 5.0 represents a novel approach that builds upon the advancements of 4.0 and is aimed at fostering more harmonious relationship between humans machines to prioritize resource efficiency usercentered manufacturing.Objective: This paper presents study, integrated in COBOSHe project, for assessing analyzing cognitive workload fatigue, using heart rate (HR) perceived scale related car engine assembly which robot human operator are performing tasks shared workspace.Method:...

Autonomous robots play a pivotal role in improving productivity and reducing operational costs. They excel at both precision speed repetitive jobs can cooperate with humans complex tasks within dynamic environments. Self-localization is critical to any robot that must navigate or manipulate the environment. To solve this problem, modular localization system suitable for mobile manipulators was developed. By using LIDAR data proposed capable of achieving less than centimeter translation error...

The estimation of a 3D sensor constellation for maximizing the observable surface area percentage given set target objects is challenging and combinatorial explosive problem that has wide range applications perception tasks may require gathering information from multiple views due to environment occlusions. To tackle this problem, Gazebo simulator was configured accurately modeling 8 types depth cameras with different hardware characteristics, such as image resolution, field view,...

BIM for the Steel Fabrication Industry Robotic Systems Pedro Tavares, Carlos Costa, Malaca, João Silva, Luis Rocha and Germano Veiga Pages 639-645 (2017 Proceedings of 34rd ISARC, Taipei, Taiwan, ISBN 978-80-263-1371-7, ISSN 2413-5844) Abstract: In this paper we present a comparison between older DSTV file format newer version IFC standard, dedicating special attention its impact in robotization welding cutting processes construction industry. last decade, have seen significant increase...