DeepAI AI Chat
Log In Sign Up

Toward Fast and Optimal Robotic Pick-and-Place on a Moving Conveyor

by   Shuai D. Han, et al.

Robotic pick-and-place (PnP) operations on moving conveyors find a wide range of industrial applications. In practice, simple greedy heuristics (e.g., prioritization based on the time to process a single object) are applied that achieve reasonable efficiency. We show analytically that, under a simplified telescoping robot model, these greedy approaches do not ensure time optimality of PnP operations. To address the shortcomings of classical solutions, we develop algorithms that compute optimal object picking sequences for a predetermined finite horizon. Employing dynamic programming techniques and additional heuristics, our methods scale to up to tens to hundreds of objects. In particular, the fast algorithms we develop come with running time guarantees, making them suitable for real-time PnP applications demanding high throughput. Extensive evaluation of our algorithmic solution over dominant industrial PnP robots used in real-world applications, i.e., Delta robots and Selective Compliance Assembly Robot Arm (SCARA) robots, shows that a typical efficiency gain of around 10-40


page 3

page 4

page 6

page 7

page 10

page 11

page 12

page 13


On Motion Control and Machine Learning for Robotic Assembly

Industrial robots typically require very structured and predictable work...

Computing High-Quality Clutter Removal Solutions for Multiple Robots

We investigate the task and motion planning problem of clearing clutter ...

Toward Efficient Task Planning for Dual-Arm Tabletop Object Rearrangement

We investigate the problem of coordinating two robot arms to solve non-m...

Taming Combinatorial Challenges in Optimal Clutter Removal Tasks

We examine an important combinatorial challenge in clearing clutter usin...

Planning of efficient trajectories in robotized assembly of aerostructures exploiting kinematic redundancy

Aerospace production volumes have increased over time and robotic soluti...

A Laser-based Dual-arm System for Precise Control of Collaborative Robots

Collaborative robots offer increased interaction capabilities at relativ...