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Optimizing Pick and Place Operations in a Simulated Work Cell For Deformable 3D Objects

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Intelligent Robotics and Applications (ICIRA 2015)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 9245))

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Abstract

This paper presents a simulation framework for using machine learning techniques to determine robust robotic motions for handling deformable objects. The main focus is on applications in the meat sector, which mainly handle three-dimensional objects. In order to optimize the robotic handling, the robot motions have been parametrized in terms of grasp points, robot trajectory and robot speed. The motions are evaluated based on a dynamic simulation environment for robotic control of deformable objects. The evaluation indicates certain parameter setups, which produce robust motions in the simulated environment, and based on a visual analysis indicate satisfactory solutions for a real world system.

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Author information

Authors and Affiliations

  1. The Maersk Mc-Kinney Moller Institute, University of Southern Denmark, 5230, Odense M, Denmark

    Troels Bo Jørgensen, Preben Hagh Strunge Holm, Henrik Gordon Petersen & Norbert Krüger

Authors
  1. Troels Bo Jørgensen
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  2. Preben Hagh Strunge Holm
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  3. Henrik Gordon Petersen
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  4. Norbert Krüger
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Corresponding author

Correspondence to Troels Bo Jørgensen .

Editor information

Editors and Affiliations

  1. University of Portsmouth, Portsmouth, United Kingdom

    Honghai Liu

  2. Tokyo Metropolitan University, Tokyo, Japan

    Naoyuki Kubota

  3. Shanghai Jiao Tong University, Shanghai, China

    Xiangyang Zhu

  4. Karlsruhe Institute of Technology, Karlsruhe, Germany

    Rüdiger Dillmann

  5. University of Portsmouth, Portsmouth, United Kingdom

    Dalin Zhou

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© 2015 Springer International Publishing Switzerland

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Bo Jørgensen, T., Holm, P.H.S., Petersen, H.G., Krüger, N. (2015). Optimizing Pick and Place Operations in a Simulated Work Cell For Deformable 3D Objects. In: Liu, H., Kubota, N., Zhu, X., Dillmann, R., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2015. Lecture Notes in Computer Science(), vol 9245. Springer, Cham. https://doi.org/10.1007/978-3-319-22876-1_37

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  • DOI: https://doi.org/10.1007/978-3-319-22876-1_37

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-22875-4

  • Online ISBN: 978-3-319-22876-1

  • eBook Packages: Computer ScienceComputer Science (R0)

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