Accurate and versatile automation of industrial kitting operations with SkiROS
Polydoros, Athanasios S. ; Großmann, Bjarne ; Rovida, Francesco ; Nalpantidis, Lazaros and Krüger, Volker LU
(2016)
17th Annual Conference Towards Autonomous Robotic Systems (TAROS), 2016
In Lecture Notes in Computer Science
9717.
p.255-268
- Abstract
- The low automation level of industrial manufacturing processes, in conjunction with the limited research in the field of object manipulation for placing tasks, rise the need for adaptive and accurate industrial robotic systems that can manipulate a variety of objects in an uncertain environment. We deal with those issues by providing insights into two modules of a skilled-based architecture, the SkiROS. Those modules are applied on the placing part of an industrial kitting operation and can lead to versatile perception of the environment and the accurate placing of objects in confined areas. We evaluate both modules in terms of accuracy, execution time and success rate in various setups of the environment. Also we evaluate the whole... (More)
- The low automation level of industrial manufacturing processes, in conjunction with the limited research in the field of object manipulation for placing tasks, rise the need for adaptive and accurate industrial robotic systems that can manipulate a variety of objects in an uncertain environment. We deal with those issues by providing insights into two modules of a skilled-based architecture, the SkiROS. Those modules are applied on the placing part of an industrial kitting operation and can lead to versatile perception of the environment and the accurate placing of objects in confined areas. We evaluate both modules in terms of accuracy, execution time and success rate in various setups of the environment. Also we evaluate the whole kitting pipeline – including the proposed modules – as a unit in terms of repeatability and execution time. The results show that the proposed system is capable to both accurately localize the kitting box and place the object in its narrow compartments. (Less)
- Abstract (Swedish)
- The low automation level of industrial manufacturing processes, in conjunction with the limited research in the field of object manipulation for placing tasks, rise the need for adaptive and accurate industrial robotic systems that can manipulate a variety of objects in an uncertain environment. We deal with those issues by providing insights into two modules of a skilled-based architecture, the SkiROS. Those modules are applied on the placing part of an industrial kitting operation and can lead to versatile perception of the environment and the accurate placing of objects in confined areas. We evaluate both modules in terms of accuracy, execution time and success rate in various setups of the environment. Also we evaluate the whole... (More)
- The low automation level of industrial manufacturing processes, in conjunction with the limited research in the field of object manipulation for placing tasks, rise the need for adaptive and accurate industrial robotic systems that can manipulate a variety of objects in an uncertain environment. We deal with those issues by providing insights into two modules of a skilled-based architecture, the SkiROS. Those modules are applied on the placing part of an industrial kitting operation and can lead to versatile perception of the environment and the accurate placing of objects in confined areas. We evaluate both modules in terms of accuracy, execution time and success rate in various setups of the environment. Also we evaluate the whole kitting pipeline - including the proposed modules - as a unit in terms of repeatability and execution time. The results show that the proposed system is capable to both accurately localize the kitting box and place the object in its narrow compartments. (Less)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/7e47b9ed-c6ad-49a2-91a1-c384be1343db
- author
- Polydoros, Athanasios S.
; Großmann, Bjarne
; Rovida, Francesco
; Nalpantidis, Lazaros
and Krüger, Volker
LU
- publishing date
- 2016
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- keywords
- Industrial robotics, Kitting operations, Object localization, Robotic systems, Skill-based architecture
- host publication
- Towards Autonomous Robotic Systems : 17th Annual Conference, TAROS 2016, Sheffield, UK, June 26--July 1, 2016, Proceedings - 17th Annual Conference, TAROS 2016, Sheffield, UK, June 26--July 1, 2016, Proceedings
- series title
- Lecture Notes in Computer Science
- editor
- Alboul, Lyuba ; Damian, Dana and Aitken, Jonathan M.
- volume
- 9717
- pages
- 14 pages
- publisher
- Springer
- conference name
- 17th Annual Conference Towards Autonomous Robotic Systems (TAROS), 2016
- conference location
- Sheffield, United Kingdom
- conference dates
- 2016-06-29 - 2016-07-01
- external identifiers
-
- scopus:84977551710
- ISSN
- 0302-9743
- 1611-3349
- ISBN
- 978-3-319-40378-6
- 978-3-319-40379-3
- DOI
- 10.1007/978-3-319-40379-3_26
- language
- English
- LU publication?
- no
- id
- 7e47b9ed-c6ad-49a2-91a1-c384be1343db
- date added to LUP
- 2019-05-16 21:23:31
- date last changed
- 2024-04-16 06:06:32
@inproceedings{7e47b9ed-c6ad-49a2-91a1-c384be1343db,
abstract = {{The low automation level of industrial manufacturing processes, in conjunction with the limited research in the field of object manipulation for placing tasks, rise the need for adaptive and accurate industrial robotic systems that can manipulate a variety of objects in an uncertain environment. We deal with those issues by providing insights into two modules of a skilled-based architecture, the SkiROS. Those modules are applied on the placing part of an industrial kitting operation and can lead to versatile perception of the environment and the accurate placing of objects in confined areas. We evaluate both modules in terms of accuracy, execution time and success rate in various setups of the environment. Also we evaluate the whole kitting pipeline – including the proposed modules – as a unit in terms of repeatability and execution time. The results show that the proposed system is capable to both accurately localize the kitting box and place the object in its narrow compartments.}},
author = {{Polydoros, Athanasios S. and Großmann, Bjarne and Rovida, Francesco and Nalpantidis, Lazaros and Krüger, Volker}},
booktitle = {{Towards Autonomous Robotic Systems : 17th Annual Conference, TAROS 2016, Sheffield, UK, June 26--July 1, 2016, Proceedings}},
editor = {{Alboul, Lyuba and Damian, Dana and Aitken, Jonathan M.}},
isbn = {{978-3-319-40378-6}},
issn = {{0302-9743}},
keywords = {{Industrial robotics; Kitting operations; Object localization; Robotic systems; Skill-based architecture}},
language = {{eng}},
pages = {{255--268}},
publisher = {{Springer}},
series = {{Lecture Notes in Computer Science}},
title = {{Accurate and versatile automation of industrial kitting operations with SkiROS}},
url = {{http://dx.doi.org/10.1007/978-3-319-40379-3_26}},
doi = {{10.1007/978-3-319-40379-3_26}},
volume = {{9717}},
year = {{2016}},
}