OBBTree: a hierarchical structure for rapid interference detection
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Multidimensional binary search trees used for associative searching
Communications of the ACM
Introduction to Robotics: Mechanics and Control
Introduction to Robotics: Mechanics and Control
Planning Algorithms
Creating High-quality Paths for Motion Planning
International Journal of Robotics Research
Comparison of local image descriptors for full 6 degree-of-freedom pose estimation
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Robust 3D object registration without explicit correspondence using geometric integration
Machine Vision and Applications - Integrated Imaging and Vision Techniques for Industrial Inspection
Design of a library of motion functions for a Humanoid robot for a football game
AICCSA '10 Proceedings of the ACS/IEEE International Conference on Computer Systems and Applications - AICCSA 2010
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This paper presents an algorithm for planning efficient trajectories in a bin-picking scenario. The presented algorithm is designed to provide paths, which are applicable for typical industrial manipulators, and does not require customized research interfaces to the robot controller. The method provides paths (almost) instantaneously, which is important for running efficiently in production. To achieve this, the method utilizes that all motions start and end within sub-volumes of the work envelope. A database of paths can thus be pre-computed, such that all paths are optimized with respect to a specified cost function, thereby ensuring close to optimal solutions. When queried, the method searches the database for a feasible path candidate and adapts it to the specific query. To achieve an efficient execution on the robot, blends are added to ensure a smooth transition between segments. Two algorithms for calculating feasible blends based on the clearance between robot and obstacles are therefore provided. Finally, the method is tested in a real bin-picking application where it solves queries efficiently and provides paths, which are significantly faster than those currently used for bin-picking in the industry.