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Publication Citation: A Simulated Sensor-based Approach for Kit Building Applications

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Author(s): Zeid Kootbally; Craig I. Schlenoff; Theodore J. Weisman; Stephen B. Balakirsky; Thomas R. Kramer; Anthony Pietromartire;
Title: A Simulated Sensor-based Approach for Kit Building Applications
Published: December 20, 2013
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: Proceedings of the 2nd International Conference on Robot Intelligence Technology and Applications 2013
Pages: 17 pp.
Location: Denver, CO
Dates: December 18-20, 2013
Keywords: simulated sensor; simulation; kitting; robotics; pose estimation
Research Areas: Simulation, Robotics, Ontologies, Manufacturing
PDF version: PDF Document Click here to retrieve PDF version of paper (2MB)