Bin picking with RobotiQ and UR10

Marcel89 2017-05-09

Hello everybody,

My name is Marcel and I work as part of a study work on the realization of the bin picking with the RobotiQ camera and a UR10.
I have already achieved that the robot will pick up parts that lie on a flat surface.
It makes a picture with the camera and then aligns the gripper accordingly.
Now I would like that the robot also recognizes the parts, if these lie disorganized in a box.
Currently I have the problem that the camera does not recognize the part to be grasped, if this is not horizontal.
Can someone please tell me whether picking with the robotiq camera is possible? And. Has anyone tips how I can realize this?

Many Thanks.
Marcel

louis_bergeron 2017-05-09

Marcel,

Our camera is only designed for 2D as you have done on a flat surface. It's not designed to do any 3D recognition or Bin picking application actually.

Julimo 2017-05-10

Hi Marcel and others,

we had the same problem that we had to pick disorganized parts from pallet and do some precise things to picked part. Our students came up with the solution of force seeking and vacuum signal.

Basically there is two rules on the programm. If the force goes above the specified limit and there is no vacuum the robot will move to next patternpoint which is 50mm away from the last point. And the second rule is that if vacuum is detected the robot will go to the jig where picked part is orientated again. After orientation robot knows the orientation of the part and it can execute rest of the program.

The picking is made with one suction cup and the rest of the program will be executed with two suction cups.