Planning and optimization of robotic pick-and-place operations in highly constrained industrial environments
ISSN: 0144-5154
Article publication date: 13 September 2021
Issue publication date: 22 September 2021
Abstract
Purpose
The purpose of this paper is to give a comprehensive solution method for the manipulation of parts with complex geometries arriving in bulk into a robotic assembly cell. As bin-picking applications are still not reliable in intricate workcells, first, the problem is transformed to a semi-structured pick-and-place application, then by collecting and organizing the required process planning steps, a methodology is formed to achieve reliable factory applications even in crowded assembly cell environments.
Design/methodology/approach
The process planning steps are separated into offline precomputation and online planning. The offline phase focuses on preparing the operation and reducing the online computational burdens. During the online phase, the parts laying in a semi-structured arrangement are first recognized and localized based on their stable equilibrium using two-dimensional vision. Then, the picking sequence and corresponding collision-free robot trajectories are planned and optimized.
Findings
The proposed method was evaluated in a geometrically complex experimental workcell, where it ensured precise, collision-free operation. Moreover, the applied planning processes could significantly reduce the execution time compared to heuristic approaches.
Research limitations/implications
The methodology can be further generalized by considering multiple part types and grasping modes. Additionally, the automation of grasp planning and the enhancement of part localization, sequence planning and path smoothing with more advanced solutions are further research directions.
Originality/value
The paper proposes a novel methodology that combines geometrical computations, image processing and combinatorial optimization, adapted to the requirements of flexible pick-and-place applications. The methodology covers each required planning step to reach reliable and more efficient operation.
Keywords
Acknowledgements
The authors thank László Zahorán, Máté Bodor and Balázs Németh for their contributions to the implementation of the collision detection, path planning and sequencing algorithms used in the paper. Work in this paper has been in part funded under project number ED_18-22018–0006, supported by the National Research, Development and Innovation Fund of Hungary, financed under the (publicly funded) funding scheme according to Section 13. §(2) of the Scientific Research, Development and Innovation Act and in part by the Ministry for Innovation and Technology and the National Research, Development and Innovation Office within the framework of the National Lab for Autonomous Systems. A. Kovács acknowledges the support of the János Bolyai scholarship.
Citation
Tipary, B., Kovács, A. and Erdős, F.G. (2021), "Planning and optimization of robotic pick-and-place operations in highly constrained industrial environments", Assembly Automation, Vol. 41 No. 5, pp. 626-639. https://doi.org/10.1108/AA-07-2020-0099
Publisher
:Emerald Publishing Limited
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