BIN-PICKING SYSTEM FOR RANDOMLY POSITIONED OBJECTS

摘要

The invention provides a method for picking up objects randomly arranged ina bin using a robot having a gripper for grasping the objects using prehensionfeature(s)on the object. The method includes a shaking scheme for rearranging theobjects in thebin when no objects are recognized, when no objects are prehensible by thegripper orwhen the object to be picked up is not reachable by the gripper because, forexample,its prehension feature is substantially facing a wall of the bin. The methodalso includesa criterion for determining that a bin is free of objects to be picked up anda criterion forselecting the object to be picked up first in the bin. The method alsoprovides for aprotection mechanism against damage of the objects and the robot when arecognitiontechnique has failed in properly recognizing the object or the prehensionfeature on theobject.