Affiliation:
1. School of Mechanical Engineering, Kalinga Institute of Industrial Technology (Deemed), Bhubaneswar, India
Abstract
Autonomous robots that operate objects within a limited workspace have wide applications in the e-commerce industry, which helps in overcoming the lack of flexibility and improves operation efficiency by minimizing material delivery and handling time. In this work, a model has been developed for an intelligent picking warehouse robot that independently conducts pick and place operations on payloads of up to 2.2 kgs and have a maximum size in any dimension up to 20 cm. It consists of robotic system and various sub-systems, including mechanical design and analysis, perception pipeline, sensor fusion, control architecture, trajectory planning, and grasp synthesis. Performance evaluation of the model has been done using software simulation for picking systems in various tasks in warehouse settings. It autonomously identifies the pick-up locations, drop locations, and objects in its workspace using an on-board, RGB-D camera and other complimenting sensors to manipulate payloads using a triaxial gantry system.
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