Human–robot cooperation in sorting of randomly distributed objects

• Autorzy: Jezierski Edward , Łuczak Piotr , Smyczyński Paweł , Zarychta Dariusz

Identyfikatory

DOI

10.24425/acs.2019.131228

• Języki publikacji: EN

Abstrakty

EN

The paper presents the possibilities of teaching a robot controller to perform operations of autonomous segregation of objects differing in features that can be identified using a vision system. Objects can be arranged freely on the robot scene also covered with others. In the learning phase, a robot operator presents the segregation method by moving subsequent objects held in a human hand, e. g. a red object to container A, a green object to container B, etc. The robot system, after recognizing the idea of segregation that is being done using the vision system, continues this work in an autonomous way, until all identified objects will be removed from robotic scene. There are no restrictions on the dimensions, shapes and placement of containers collecting segregated objects. The developed algorithms were verified on a test bench equipped with two modern robots KUKA LBR iiwa 14 R820.

Słowa kluczowe

EN

human–robot cooperation; vision system; collaborative robots

• Wydawca: Polish Academy of Sciences, Committee of Automatic Control and Robotics
• Czasopismo: Archives of Control Sciences
• Rocznik: 2019
• Tom: Vol. 29, No. 4
• Strony: 603--615
• Opis fizyczny: Bibliogr. 13 poz., rys., tab., wzory

Twórcy

autor

Jezierski Edward

• Institute of Automatic Control, Lodz University of Technology, Stefanowskiego 18/22, 90-924 Łódź

autor

Łuczak Piotr

• Institute of Automatic Control, Lodz University of Technology, Stefanowskiego 18/22, 90-924 Łódź

autor

Smyczyński Paweł

• Institute of Automatic Control, Lodz University of Technology, Stefanowskiego 18/22, 90-924 Łódź

autor

Zarychta Dariusz

• Institute of Automatic Control, Lodz University of Technology, Stefanowskiego 18/22, 90-924 Łódź

Bibliografia

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• [4] S. A. Green et al.: Human-Robot Collaboration: A literature review and augmented reality approach in design. Int. J. of Advanced Robotic Systems, 5(1), (2008), 1–18.
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• [10] J. Patel, Y. A. Choudhary and G. M. Bone: Fault tolerant robot programming by demonstration of sorting tasks with industrial objects. 2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS), 278– 283.
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• [13] https://www.kuka.com/en-us/technologies/human-robot-collaboration.

Uwagi

PL

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2019).