A fast pick-and-place prototype robot: design and control

摘要

This article focuses on a newly built research platform (a robot). Using its vision system, it can identify round objects that are randomly scattered on a table. Then, using its gripper they are picked and placed inside a basket. The control system is tuned such that, the succession of operations runs fast and safe. In this paper we present how this has been achieved: going from concepts to design, validation in simulation and eventually experimental validation. Lessons learned can save time for other parties interested in building prototype robots.