Bin picking
Bin picking
Mujin’s picking solutions accelerate factory automation for customers
Even with a 3D vision camera mounted on a conventional industrial robot, it was still necessary to
teach the robot its paths.
Unlike 2D picking, bin picking needs to be performed with complex postures and extensive consideration of
interference avoidance, making it a difficult task, for which excessive amounts of teaching effort were
needed just to set up a demo.
Therefore, Mujin developed a PickWorker that gives brains to the robot, and uses its own Teachless
technology to realize bin picking
in a short time. Various applications are supplied.
Feature 1 No teaching required for 3D operation!
Conventional methods – Problems
- While avoiding robot interference and singular points, waypoints need to be taught one by one.
- Experience is needed for manual avoidance of singular points and joint limits.
It is almost impossible actually to implement practical 3D picking from a box. A state close to flat
loading in a shallow box
Mujin system – Solutions
- Teaching is unnecessary in automatic robot motion generation.
- 3D bin picking is realized immediately.
- Greatly reduces automation workload.
- Special knowledge of robotics is no longer necessary.
Introduction costs of robots are drastically reduced. Immediate realization of advanced tasks such as
3D picking
Feature 2 Immediate picking is possible from “deep” wire mesh and collapsible containers
Conventional methods – Problems
- Picking from deep boxes requires a short hand.
- When the hand is short, the robot needs to thrust the head parts into the box.
- Teaching is not realistically possible for the case where the robot head is thrust into the box, as this requires robotic movements which take into account advanced interference avoidance.
Ultimately, it is only possible to realize picking from almost flat-loaded shallow boxes/plates, as is
often seen in demos
Mujin system – Solutions
- Picking is possible even from the bottom of deep boxes using the advanced interference avoidance function.
- Singular points and joint limits are considered automatically, enabling the robot to approach box corners without interference.
- 3D picking can be set up in a realistic environment.
- Special knowledge of robotics is no longer necessary.
For high demand, 3D picking from deep collapsible and wire mesh containers can be set up in ultra-short
times!
Feature 3 Immediate operation with simple steps
With easy settings steps, bin picking can be realized, without having to teach the robot the operations.
Feature 4 Easy alignment with various 3D visions through an automatic calibration system!
Conventional methods – Problems
- Manual operation requires excessive time.
- It is necessary to perform JOG operations with the robot.
- Accuracy varies depending on the operator.
- 3D vision calibration is difficult to adjust.
It is difficult to maintain high accuracy all the time
Mujin system – Solutions
- With the world’s first fully automatic calibration function, equipped with interference avoidance functionality, calibration can be performed safely and quickly.
- Even when the setting values are misaligned, easy operation enables anyone to perform re-execution and instant recovery via a single button.
- Always realize the best picking accuracy on site.
Maintain high precision picking accuracy continuously on site
Feature 5 Teachless technology allows instant response to changes in layout and multiple product types!
Feature 6 Instantly reproduce the disordered loading state with the physical simulator fitted as standard
Conventional methods – Problems
- The simulator cannot recreate a disordered loading state.
- Realistic simulation is not possible.
- Ultimately, it is impossible to deal with unexpected situations occurring on site.
3D picking is an unpredictable high-difficulty task
Mujin system – Solutions
- There is a built-in physical simulator that recreates disordered loading conditions in real time operational simulations.
- By implementing rigorous advance studies in the simulation environment, instant start up is possible on site.
More realistic advance studies possible
Feature 7 One Mujin control – Improves safety –
Robots, travel motors and hands are controlled by a single Mujin Controller. They operate safely in restricted spaces.
System configuration
