A fast pick-and-place prototype robot: design and control

This article focuses on a newly built research platform (a robot). Using its vision system, it can identify round objects that are randomly scattered on a table. Then, using its gripper they are picked and placed inside a basket. The control system is tuned such that, the succession of operations ru...

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Bibliographic Details
Published in2016 IEEE Conference on Control Applications (CCA) pp. 1414 - 1420
Main Authors Teodorescu, C. S., Vandenplas, S., Depraetere, B., Anthonis, J., Steinhauser, A., Swevers, J.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.09.2016
Subjects
Brushless motors
Friction
Grippers
Mathematical model
Robots
Solid modeling
Torque
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Summary:This article focuses on a newly built research platform (a robot). Using its vision system, it can identify round objects that are randomly scattered on a table. Then, using its gripper they are picked and placed inside a basket. The control system is tuned such that, the succession of operations runs fast and safe. In this paper we present how this has been achieved: going from concepts to design, validation in simulation and eventually experimental validation. Lessons learned can save time for other parties interested in building prototype robots.
DOI:10.1109/CCA.2016.7588005