Gilbreth: A Conveyor-Belt Based Pick-and-Sort Industrial Robotics Application

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dc.contributor.authorZhang, Y.
dc.contributor.authorLi, Lianjun
dc.contributor.authorRipperger, M.
dc.contributor.authorNicho, J.
dc.contributor.authorVeeraraghavan, M.
dc.contributor.authorFumagalli, Andrea
dc.contributor.utdAuthorLi, Lianjun
dc.contributor.utdAuthorFumagalli, Andrea
dc.date.accessioned2019-08-30T19:10:23Z
dc.date.available2019-08-30T19:10:23Z
dc.date.created2018-01-31
dc.descriptionFull text access from Treasures at UT Dallas is restricted to current UTD affiliates (use the provided Link to Article).
dc.description.abstractThis paper describes an industrial robotics application, named Gilbreth, for picking up objects of different types from a moving conveyor belt and sorting the objects into bins according to type. The environment, which consists of a moving conveyor belt, a break beam sensor, a 3D camera Kinect sensor, a UR10 industrial robot arm with a vacuum gripper, and different object types such as gears, pulleys, piston rods, was inspired by the NIST ARIAC competition. A first version of the Gilbreth application was implemented leveraging many ROS and ROS-I packages. Gazebo was used to simulate the environment, and six external ROS nodes were implemented to execute the required functions. Experimental measurements of CPU usage and processing times of ROS nodes were obtained. Object recognition required the highest processing times that were on par with the time required for the robot arm to execute its movement between four poses: pick approach, pick, pick retreat and place. A need for enhancing the performance of object recognition and Gazebo simulation was identified.
dc.description.departmentErik Jonsson School of Engineering and Computer Science
dc.description.sponsorship"This work was supported by UVA NSF grants 1531065 and 1624676, and UTD NSF grant 1531039."
dc.identifier.bibliographicCitationZhang, Y., L. Li, M. Ripperger, J. Nicho, et al. 2018. "Gilbreth: A conveyor-belt based pick-and-sort industrial robotics application." Proceedings - International Conference on Robotic Computing, 2nd: 17-24, doi:10.1109/IRC.2018.00012
dc.identifier.isbn9781538646519
dc.identifier.urihttps://hdl.handle.net/10735.1/6826
dc.identifier.volume2018
dc.language.isoen
dc.publisherInstitute of Electrical and Electronics Engineers Inc.
dc.relation.isPartOfProceedings - International Conference on Robotic Computing, 2nd
dc.relation.urihttp://dx.doi.org/10.1109/IRC.2018.00012
dc.rights©2018 IEEE
dc.subjectRobots, Industrial
dc.subjectCameras
dc.subjectRobotics
dc.subjectConveyor belts
dc.subjectRobots—Kinematics
dc.subjectPistons
dc.titleGilbreth: A Conveyor-Belt Based Pick-and-Sort Industrial Robotics Application
dc.type.genrearticle

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