Robotic workcell for sole grasping in footwear manufacturing
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http://hdl.handle.net/10045/109514
Título: | Robotic workcell for sole grasping in footwear manufacturing |
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Autor/es: | Oliver, Guillermo | Gil, Pablo | Torres, Fernando |
Grupo/s de investigación o GITE: | Automática, Robótica y Visión Artificial |
Centro, Departamento o Servicio: | Universidad de Alicante. Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal | Universidad de Alicante. Instituto Universitario de Investigación Informática |
Palabras clave: | Robotics | Grasping | Manufacturing | Automation | Footwear | Shoe soles |
Área/s de conocimiento: | Ingeniería de Sistemas y Automática |
Fecha de creación: | 8-sep-2020 |
Fecha de publicación: | 8-sep-2020 |
Editor: | IEEE |
Cita bibliográfica: | Oliver, Guillermo; Gil, Pablo; Torres, Fernando. “Robotic workcell for sole grasping in footwear manufacturing”. In: Proceedings of 25th IEEE International Conference on Emerging Technologies and Factory Automation. IEEE, 2020. pp. 704-710 |
Resumen: | The goal of this paper is to present a robotic workcell to automate several tasks of the cementing process in footwear manufacturing. Our cell's main applications are sole digitization of a wide variety of footwear, glue dispensing and sole grasping from conveyor belts. This cell is made up of a manipulator arm endowed with a gripper, a conveyor belt and a 3D scanner. We have integrated all the elements into a ROS simulation environment facilitating control and communication among them, also providing flexibility to support future extensions. We propose a novel method to grasp soles of different shape, size and material, exploiting the particular characteristics of these objects. Our method relies on object contour extraction using concave hulls. We evaluate it on point clouds of 16 digitized real soles in three different scenarios: concave hull, k-NNs extension and PCA correction. While we have tested this workcell in a simulated environment, the presented system's performance is scheduled to be tested on a real setup at INESCOP facilities in the upcoming months. |
Patrocinador/es: | Work funded by the European Commission and FEDER funds through the COMMANDIA project (SOE2/P1/F0638), supported by Interreg-V Sudoe. |
URI: | http://hdl.handle.net/10045/109514 |
ISBN: | 978-1-7281-8956-7 |
ISSN: | 1946-0759 |
Idioma: | eng |
Tipo: | info:eu-repo/semantics/conferenceObject |
Derechos: | © 2020 IEEE |
Revisión científica: | si |
Aparece en las colecciones: | INV - AUROVA - Comunicaciones a Congresos Internacionales |
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Oliver_etal_2020_EFTA_final.pdf | Versión final (acceso restringido) | 563,43 kB | Adobe PDF | Abrir Solicitar una copia |
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