Griff in die Kiste Durch Vereinzelung und Optische Erkennung

Summary

Workpieces randomly oriented in a box are sorted with an industrial robot (IR) controlled by an imaging sensor. At first the parts are separated by the IR. For this the IR performs a blind search and grasps a part at random with a special magnetic gripper. After a successful grasp, detected by measuring the inductivity of the gripper the IR takes the part out of the box and places it onto a table into the observation field of the sensor. Now orientation and position coordinates are determined by the sensor and delivered to the IR. So the IR is enabled to grasp the part in a defined way and to do a determined handling.

In comparision with similar works [1, 2], here the separation process isn’t controlled by an imaging sensor. It will be shown that due to the special magnetic gripper workpieces formed out of magnetic metrial are separated by an IR with high efficiency.

A further result of the work is a list of specifications that a sensor controlled IR should meet in order to perform this task effectively.