Toward Future Automatic Warehouses: An Autonomous Depalletizing System Based on Mobile Manipulation and 3D Perception

• DOI: 10.3390/app11135959
• Publication Date: 2021-06-28T02:24:57Z
• Authors: Jacopo Aleotti; Alberto Baldassarri; Marcello Bonfè; Marco Carricato; Davide Chiaravalli; Roberto Di Leva; Cesare Fantuzzi; Saverio Farsoni; Gino Innero; Dario Lodi Rizzini; Claudio Melchiorri; Riccardo Monica; Gianluca Palli; Jacopo Rizzi; Lorenzo Sabattini; Gianluca Sampietro; Federico Zaccaria
• Keywords: Pallet; SMT placement equipment

This paper presents a mobile manipulation platform designed for autonomous depalletizing tasks. The proposed solution integrates machine vision, control and mechanical components to increase flexibility ease of deployment in industrial environments such as warehouses. A collaborative robot mounted on base is proposed, equipped with simple tool 3D in-hand vision system that detects parcel boxes pallet, pulls them one by the transportation. setup allows avoid cumbersome implementation pick-and-place operations, since it does not require lifting boxes. used provide an initial estimation pose top layer accurately detect separation between manipulation. Force measurement provided together admittance are exploited verify correct execution task. was implemented tested simplified laboratory scenario results experimental trials reported.