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In-Box Picking System Design for Six-Axis Robot Arm | IEEE Conference Publication | IEEE Xplore

In-Box Picking System Design for Six-Axis Robot Arm


Abstract:

This paper designs and implements an in-box picking system for a six-axis robot arm. For the randomly stacked objects in the box, the system combined with a visual algori...Show More

Abstract:

This paper designs and implements an in-box picking system for a six-axis robot arm. For the randomly stacked objects in the box, the system combined with a visual algorithm and a collision avoidance algorithm allows the robot arm to autonomously complete the picking and placing of the objects in the box. This paper discusses the problems at the system level, which uses object detection algorithms and point cloud data to deal with object classification and matching problems, and uses a collision avoidance algorithm to prevent the robot arm from colliding with the box. Finally, an actual test is presented to illustrate the proposed system can indeed complete the actual operation.
Date of Conference: 15-17 September 2021
Date Added to IEEE Xplore: 18 November 2021
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Conference Location: Penghu, Taiwan

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References

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