Proposal for Multi-work Picking System Aimed at Shortening the Cycle Time of Bulk Picking Task

摘要

This paper addresses multi-work picking systems to shorten the cycle time of bulk picking task. Proposed systems equip robot hands that can pick multi-work and have an ability to find paths that can avoid collision of robots, hands and earlier picking works with surrounding environment and themselves. In collision avoidance of earlier picked works, we realized that by treating them as parts of robots during grasp planning and path planning for the second and the subsequent works. We demonstrate examples of multi-work picking and verify the validity of the proposed systems by comparing the average cycle time with conventional single work picking.