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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)
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author
; ; ; and
publishing date
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
1611-3349
0302-9743
ISBN
978-3-319-40379-3
978-3-319-40378-6
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
2021-01-06 04:32:53
@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         = {978-3-319-40379-3},
  issn         = {1611-3349},
  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},
}