Abstract
In this paper, an automated twistlock handling robot system is proposed with the aim to perform tedious and danger works with safe efficient operations. The proposed robot system is composed of an unmanned ground vehicle, a human friendly lightweight robot manipulator, a robot gripper with three fingers, and a 3D Kinect sensor for object recognition. A segmentation algorithm has been developed and 3D models have been elaborated for different twistlocks. Then, a library has been built for automatic object recognition and registration purposes. An architecture design of the software module is introduced and a full cycle of twistlock handling operation is illustrated. Simulations are reported in order to evaluate feasibility and operation performances of the system.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Stahlbock, R., et al.: Operations research at container terminals: a literature update. OR Spectrum 30(1), 1–52 (2008)
Saanen, Y.: An operations perspective on new twistlock handling in terminals, port technology international. PT53–21_11 (2012)
Maritime and Port Authority of Singapore (MPA): The world busiest seaport, Available via MPA official website. http://www.mpa.gov.sg/sites/pdf/infokit2.pdf
Zhang, L., et al.: Twist-lock pose estimation and grasping based on CAD model. In: Proceedings of the 3rd IFTOMM International Symposium on Robotics and Mechatronics, ISRM2013, Singapore, pp. 739–747 (2013)
Shuang, M. et al.: 3D irregular object recognition for twist-lock handling system. In: IEEE—2014 26th Chinese Control and Decision Conference, CCDC2014, Harbin, pp. 2729–2734 (2014)
Shuang, M. et al.: 3D object recognition using kernel PCA based on depth information for twist-lock grasping. In: IEEE International Conference on Robotics and Biomimetics, ROBIO2013, Shenzhen, pp. 2667–2672 (2013)
Ding, J., et al.: Design of manipulator controlling system for loading and unloading container twist lock. J. Wuhan Univ. Technol. 28(1), 33–35 (2004)
Bromma: Automatic twistlock handling solutions. Available via Bromma official website. http://www.bromma.com/source.php/1531385/BROMMA_ALP_low.pdf
Clearpath Robotics Inc: Datasheet and technical specifications of Grizzly mobile manipulator, Available via Clearpath robotics Inc. website. http://clearpath.wpengine.netdna-cdn.com/wp-content/uploads/2014/11/Grizzly-Mobile-ManipulatorV1.pdf
Ostergaard, E.H.: Light weight robot for everybody. IEEE Robot. Autom. Mag. 19(4), 17–18 (2012)
Acknowledgments
This work has been partially supported by the Singapore Agency for Science, Technology and Research (A*star) under SERC industrial robotics research program Project No. 1225100008. The authors would like to thank the technical supports from Ms. Liu lili, Mr. Teguh Santoso Lembono and Dr. Qilong Yuan.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2015 Springer International Publishing Switzerland
About this paper
Cite this paper
Liang, C., Zou, Y., Chen, IM., Ceccarelli, M. (2015). Development and Simulation of an Automated Twistlock Handling Robot System. In: Bai, S., Ceccarelli, M. (eds) Recent Advances in Mechanism Design for Robotics. Mechanisms and Machine Science, vol 33. Springer, Cham. https://doi.org/10.1007/978-3-319-18126-4_14
Download citation
DOI: https://doi.org/10.1007/978-3-319-18126-4_14
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-18125-7
Online ISBN: 978-3-319-18126-4
eBook Packages: EngineeringEngineering (R0)