Please use this identifier to cite or link to this item: https://hdl.handle.net/10356/142566
Title: Designing modular robotic architecture for e-commerce bin picking task fulfillment
Authors: Kok, Johan Zhi Kang
Causo, Albert
Chong, Zheng-Hao
Chen, I-Ming
Keywords: Engineering::Mechanical engineering
Issue Date: 2017
Source: Kok, J. Z. K., Causo, A., Chong, Z.-H., & Chen, I.-M. (2017). Designing modular robotic architecture for e-commerce bin picking task fulfillment. Proceedings of 2017 IEEE Region 10 Conference (TENCON 2017), 1109-1114. doi:10.1109/TENCON.2017.8228023
Abstract: This paper presents a high level architecture for a robot, designed for item picking task for E-commerce fulfillment center. The architecture was designed to be modular and has features that allow the robot to operate in an E-commerce warehouse environment, where bin content changes over time. Our system was built upon the Robot Operating System (ROS), with the benefits of abstracting low level machine implementations such as joint control and communication, enabling the user to focus on higher level tasks. We built a software interface that includes a robot program manager node supported by core libraries. We tested the system on a mock copy of warehouse shelves and simulated camera data input. We used the Amazon Robotics Challenge (ARC) 2017 as a reference to design the over-all behavior of the system as well as to evaluate its performance. The robot's item picking performance was measured based on execution timing and the success of each pick.
URI: https://hdl.handle.net/10356/142566
ISBN: 978-1-5090-1135-3
DOI: 10.1109/TENCON.2017.8228023
Rights: © 2017 IEEE. All rights reserved.
Fulltext Permission: none
Fulltext Availability: No Fulltext
Appears in Collections:MAE Conference Papers

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