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Part alignment identification and adaptive pick-andplace operation for flat surfaces

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dc.contributor.authorCosta, Paulo Gomes da
dc.contributor.authorCosta, Pedro
dc.contributor.authorLima, José
dc.contributor.authorVeiga, Germano
dc.date.accessioned2014-09-09T13:31:56Z
dc.date.available2014-09-09T13:31:56Z
dc.date.issued2013
dc.description.abstractIndustrial laser cutting machines use a type of support base that sometimes causes the cut metal parts to tilt or fall, which hinders the robot from picking the parts after cutting. The objective of this work is to calculate the 3D orientation of these metal parts with relation to the main metal sheet to successfully perform the subsequent robotic pick-and-place operation. For the perception part the system relies on the low cost 3D sensing Microsoft Kinect, which is responsible for mapping the environment. The previously known part positions are mapped in the new environment and then a plane fitting algorithm is applied to obtain its 3D orientation. The implemented algorithm is able to detect if the piece has fallen or not. If not, the algorithm calculates the orientation of each piece separately. This information is later used for the robot manipulator to perform the pick-and-place operation with the correct tool orientation. This makes it possible to automate a manufacturing process that is entirely human dependent nowadays.por
dc.description.sponsorshipThe work presented in this paper, being part of the Project PRODUTECH PTI (nº13851) – New Processes and Innovative Technologies for the Production Technologies Industry, has been partly funded by the Incentive System for Technology Research and Development in Companies (SI I&DT), under the Competitive Factors Thematic Operational Programme, of the Portuguese National Strategic Reference Framework, and EU's European Regional Development Fund". The authors also thanks the FCT (Fundação para a Ciência e Tecnologia) for supporting this work trough the project PTDC/EME-CRO/114595/2009 - High-Level programming for industrial robotic cells: capturing human body motion.
dc.identifier.citationCosta, Paulo Moreira da; Costa, Paulo; Costa, Pedro; Lima, José; Veiga, Germano (2013). Part alignment identification and adaptive pick-andplace operation for flat surfaces. In FAIM 2013 - International Conference Flexible Automation and Intelligent Manufacturing. Porto. 371, p.203-212por
dc.identifier.urihttp://hdl.handle.net/10198/10365
dc.language.isoengpor
dc.subjectKineckpor
dc.subjectPick and placepor
dc.titlePart alignment identification and adaptive pick-andplace operation for flat surfacespor
dc.typeconference paper
dspace.entity.typePublication
oaire.awardURIinfo:eu-repo/grantAgreement/FCT/5876-PPCDTI/PTDC%2FEME-CRO%2F114595%2F2009/PT
oaire.citation.conferencePlacePortopor
oaire.citation.endPage212por
oaire.citation.startPage203por
oaire.citation.titleFAIM 2013 - International Conference Flexible Automation and Intelligent Manufacturingpor
oaire.citation.volume371por
oaire.fundingStream5876-PPCDTI
person.familyNameLima
person.givenNameJosé
person.identifierR-000-8GD
person.identifier.ciencia-id6016-C902-86A9
person.identifier.orcid0000-0001-7902-1207
person.identifier.ridL-3370-2014
person.identifier.scopus-author-id55851941311
project.funder.identifierhttp://doi.org/10.13039/501100001871
project.funder.nameFundação para a Ciência e a Tecnologia
rcaap.rightsopenAccesspor
rcaap.typeconferenceObjectpor
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relation.isAuthorOfPublication.latestForDiscoveryd88c2b2a-efc2-48ef-b1fd-1145475e0055
relation.isProjectOfPublication10a19f65-9b88-4c20-9149-18b1bb4340cd
relation.isProjectOfPublication.latestForDiscovery10a19f65-9b88-4c20-9149-18b1bb4340cd

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