A Simulated Sensor-based Approach for Kit Building Applications

Published

December 20, 2013

Author(s)

Zeid Kootbally, Craig I. Schlenoff, Theodore J. Weisman, Stephen B. Balakirsky, Thomas R. Kramer, Anthony Pietromartire

Abstract

Kit building or kitting is a process in which individually separate but related items are grouped, packaged, and supplied together as one unit (kit). This paper describes advances in developing sensing/control and parts detection technologies enabling robust operation of kitting applications in simulation. To pick and place parts and components during kitting, the kitting workcell relies on a simulated sensor system to retrieve the six-degree of freedom (6DOF) pose estimation of each of these objects. While the use of a sensor system allows objects' poses to be obtained, it also helps detecting failures during the execution of a kitting plan when some of these objects are missing or are not at the expected locations. A kitting system is presented and the approach that is used to task a sensor system to retrieve 6DOF pose estimation of specific objects (objects of interest) is given.

Proceedings Title

Proceedings of the 2nd International Conference on Robot Intelligence Technology and Applications 2013

Conference Dates

December 18-20, 2013

Conference Location

Denver, CO

Pub Type

Conferences

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Keywords

simulated sensor, simulation, kitting, robotics, pose estimation

Citation

Kootbally, Z. , Schlenoff, C. , Weisman, T. , Balakirsky, S. , Kramer, T. and Pietromartire, A. (2013), A Simulated Sensor-based Approach for Kit Building Applications, Proceedings of the 2nd International Conference on Robot Intelligence Technology and Applications 2013, Denver, CO, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=914962 (Accessed November 23, 2024)