TY - JOUR
T1 - Benchmark Concept for Industrial Pick&Place Applications
AU - Vick, Axel
AU - Rudorfer, Martin
AU - Vonasek, Vojtech
N1 - Published under licence by IOP Publishing Ltd. Content from this work may be used under the terms of the Creative Commons Attribution 3.0 licence. Any further distribution of this work must maintain attribution to the author(s) and the title of the work, journal citation and DOI.
PY - 2021/5/1
Y1 - 2021/5/1
N2 - Robotic grasping and manipulation is a highly active research field. Typical solutions are usually composed of several modules, e.g. object detection, grasp selection and motion planning. However, from an industrial point of view, it is not clear which solutions can be readily used and how individual components affect each other. Benchmarks used in research are often designed with simplified settings in a very specific scenario, disregarding the peculiarities of the industrial environment. Performance in real-world applications is therefore likely to differ from benchmark results. In this paper, we present a concept for the design of general Pick&Place benchmarks, which help practitioners to evaluate the system and its components for an industrial scenario. The user specifies the workspace (obstacles, movable objects), the robot (kinematics, etc.) and chooses from a set of methods to realize a desired task. Our proposed framework executes the workflow in a physics simulation to determine a range of system-level performance measures. Furthermore, it provides introspective insights for the performance of individual components.
AB - Robotic grasping and manipulation is a highly active research field. Typical solutions are usually composed of several modules, e.g. object detection, grasp selection and motion planning. However, from an industrial point of view, it is not clear which solutions can be readily used and how individual components affect each other. Benchmarks used in research are often designed with simplified settings in a very specific scenario, disregarding the peculiarities of the industrial environment. Performance in real-world applications is therefore likely to differ from benchmark results. In this paper, we present a concept for the design of general Pick&Place benchmarks, which help practitioners to evaluate the system and its components for an industrial scenario. The user specifies the workspace (obstacles, movable objects), the robot (kinematics, etc.) and chooses from a set of methods to realize a desired task. Our proposed framework executes the workflow in a physics simulation to determine a range of system-level performance measures. Furthermore, it provides introspective insights for the performance of individual components.
UR - https://iopscience.iop.org/article/10.1088/1757-899X/1140/1/012014
UR - http://www.scopus.com/inward/record.url?scp=85139010729&partnerID=8YFLogxK
U2 - 10.1088/1757-899X/1140/1/012014
DO - 10.1088/1757-899X/1140/1/012014
M3 - Conference article
AN - SCOPUS:85139010729
SN - 2346-612X
VL - 1140
JO - Proceedings of the International Conference of DAAAM Baltic
JF - Proceedings of the International Conference of DAAAM Baltic
M1 - 012014
T2 - 13th International DAAAM Baltic Conference and 29th International Baltic Conference, BALTMATTRIB 2021
Y2 - 27 April 2021 through 29 April 2021
ER -