Combining the part’s CAD file with a series of 3D measurements performed on the work space, comprising the parts to pick up and their environment (container or other).
Industrial needs :
- To automate bin-picking, even complex, placed in bulk.
- To avoid excess packaging costs.
- To guarantee a high and constant throughput (four to 12 seconds per picked part, depending on robot size, general configuration and the use or not, of background task scanning, etc.).
- To guarantee precise and repeatable positioning of picked parts (circa 0.1 to 0.5 mm depending on parts size).
- To guarantee non-collision of the part with its environment during picking.
Bin Picking Movies
The complete process of bin-picking consists of three successive steps.
Once a part has been picked up by the robot, each of the three steps is performed… :
1 – Digitisation: the Visioscope connected to the measurement sensor digitises the actual work space in the form of a 3D cluster of points (acquisition by camera triangulation/laser).
2 – Location: The calculation algorithm locates the best part to pick up from these 3D measurements. To guarantee a correct grip, possible areas of overlap by another part are simulated in 3D by building a virtual work space..
3 – Gripping: the robot receives the position (three translation components) and orientation (three rotation components) of the part to grip, along with a “choice” of possible grips among the range of gripping strategies that the Eyesberg® technology allows you to first teach the robot. The robot’s program then chooses one of these strategies based on its own constraints (accessibility, singularities, etc…)