Benchmark Concept for Industrial Pick&Place Applications

Abstract

Robotic grasping and manipulation is a highly active research field. Typical solutions are usually composed of several modules, e.g. object detection, grasp selection and motion planning. However, from an industrial point of view, it is not clear which solutions can be readily used and how individual components affect each other. Benchmarks used in research are often designed with simplified settings in a very specific scenario, disregarding the peculiarities of the industrial environment. Performance in real-world applications is therefore likely to differ from benchmark results. In this paper, we present a concept for the design of general Pick&Place benchmarks, which help practitioners to evaluate the system and its components for an industrial scenario. The user specifies the workspace (obstacles, movable objects), the robot (kinematics, etc.) and chooses from a set of methods to realize a desired task. Our proposed framework executes the workflow in a physics simulation to determine a range of system-level performance measures. Furthermore, it provides introspective insights for the performance of individual components.

Publication DOI: https://doi.org/10.1088/1757-899X/1140/1/012014
Divisions: College of Engineering & Physical Sciences > School of Computer Science and Digital Technologies > Applied AI & Robotics
College of Engineering & Physical Sciences > School of Computer Science and Digital Technologies
College of Engineering & Physical Sciences
Funding Information: This work was partially supported by the Engineering and Physical Sciences Research Council (EPSRC) under standard research grant No. EP/S032487/1 and by the Czech Science Foundation (GACˇR) under research project No. 19-22555Y.
Additional Information: Published under licence by IOP Publishing Ltd. Content from this work may be used under the terms of the Creative Commons Attribution 3.0 licence. Any further distribution of this work must maintain attribution to the author(s) and the title of the work, journal citation and DOI.
Uncontrolled Keywords: Industrial and Manufacturing Engineering,Mechanics of Materials,Strategy and Management
Publication ISSN: 2346-6138
Last Modified: 30 Sep 2024 13:50
Date Deposited: 23 Aug 2024 13:22
Full Text Link:
Related URLs: https://iopscie ... X/1140/1/012014 (Publisher URL)
http://www.scop ... tnerID=8YFLogxK (Scopus URL)
PURE Output Type: Conference article
Published Date: 2021-05-01
Published Online Date: 2021-04-27
Accepted Date: 2021-03-27
Authors: Vick, Axel
Rudorfer, Martin (ORCID Profile 0000-0001-9109-5188)
Vonasek, Vojtech

Download

[img]

Version: Published Version

License: Creative Commons Attribution

| Preview

Export / Share Citation


Statistics

Additional statistics for this record