A reconfigurable robot-sensor system for handling wooden parts

Jukka Koskinen; Tapio Heikkilä; Jari Ahola; Tuomas Seppälä

A reconfigurable robot-sensor system for handling wooden parts

Jukka Koskinen, Tapio Heikkilä, Jari Ahola, Tuomas Seppälä

Research output: Chapter in Book/Report/Conference proceeding › Conference article in proceedings › Professional

Abstract

This paper considers modeling and design of configurable autonomous robot systems and gives outlines and an example for flexible robotic handling of parts in industrial applications. We have focus on a re-configurable robot-sensor subsystem, which detects and localizes parts in the working space of the robot. The 3D point cloud based object detection and recognition subsystem is based on a variety of exchangeable and configurable components. The configuration concept is based on a flexible architecture, where components and subsystems are integrated with interfaces based on ROS (Robot Operating System).

Original language	Finnish
Title of host publication	Automaatiopäivät22
Editors	Jarno Alander
Publisher	Suomen automaatioseura
ISBN (Print)	978–952-5183-52-8
Publication status	Published - 2017
MoE publication type	D3 Professional conference proceedings
Event	Automaatiopäivät22 - Vaasa, Finland Duration: 23 Mar 2017 → 24 Mar 2017

Seminar

Seminar	Automaatiopäivät22
Country/Territory	Finland
City	Vaasa
Period	23/03/17 → 24/03/17

Keywords

ros
object recognition
industrial robots
part handling

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Cite this

@inproceedings{59fc71e98562415e9158978cc89ef4c3,

title = "A reconfigurable robot-sensor system for handling wooden parts",

abstract = "This paper considers modeling and design of configurable autonomous robot systems and gives outlines and an example for flexible robotic handling of parts in industrial applications. We have focus on a re-configurable robot-sensor subsystem, which detects and localizes parts in the working space of the robot. The 3D point cloud based object detection and recognition subsystem is based on a variety of exchangeable and configurable components. The configuration concept is based on a flexible architecture, where components and subsystems are integrated with interfaces based on ROS (Robot Operating System).",

keywords = "ros, object recognition, industrial robots, part handling",

author = "Jukka Koskinen and Tapio Heikkil{\"a} and Jari Ahola and Tuomas Sepp{\"a}l{\"a}",

year = "2017",

language = "Finnish",

isbn = "978–952-5183-52-8",

editor = "Jarno Alander",

booktitle = "Automaatiop{\"a}iv{\"a}t22",

publisher = "Suomen automaatioseura",

address = "Finland",

note = "Automaatiop{\"a}iv{\"a}t22 ; Conference date: 23-03-2017 Through 24-03-2017",

}

TY - GEN

T1 - A reconfigurable robot-sensor system for handling wooden parts

AU - Koskinen, Jukka

AU - Heikkilä, Tapio

AU - Ahola, Jari

AU - Seppälä, Tuomas

PY - 2017

Y1 - 2017

N2 - This paper considers modeling and design of configurable autonomous robot systems and gives outlines and an example for flexible robotic handling of parts in industrial applications. We have focus on a re-configurable robot-sensor subsystem, which detects and localizes parts in the working space of the robot. The 3D point cloud based object detection and recognition subsystem is based on a variety of exchangeable and configurable components. The configuration concept is based on a flexible architecture, where components and subsystems are integrated with interfaces based on ROS (Robot Operating System).

AB - This paper considers modeling and design of configurable autonomous robot systems and gives outlines and an example for flexible robotic handling of parts in industrial applications. We have focus on a re-configurable robot-sensor subsystem, which detects and localizes parts in the working space of the robot. The 3D point cloud based object detection and recognition subsystem is based on a variety of exchangeable and configurable components. The configuration concept is based on a flexible architecture, where components and subsystems are integrated with interfaces based on ROS (Robot Operating System).

KW - ros

KW - object recognition

KW - industrial robots

KW - part handling

M3 - Conference article in proceedings

SN - 978–952-5183-52-8

BT - Automaatiopäivät22

A2 - Alander, Jarno

PB - Suomen automaatioseura

T2 - Automaatiopäivät22

Y2 - 23 March 2017 through 24 March 2017

ER -