System Development of 3D Machine Vision For Automated Bin Picking

Labor is used in the industrial packaging process to perform work. The utilization of labor allows for both the possibility of human error and the potential for process inconsistency. This system helps enhance process consistency and reduce mistakes by using a robotic arm manipulator with an RGBD camera. To analyze and control the bin-picking system to perform work in the industry efficiently, each process must be optimized to excel in its respective sectors: perception, planning, and control. The content of this research will be broken down into five key sections: simulation, planning, perception, calibration, and 3D modeling which important to the system. Since bin-picking requires a high-performance and repeatable system, robust development is needed in each process to maximize the performance and repeatability of the operation. As a result, the bin-picking system that has been developed in this research exhibits some biases and has a specific distribution value within pick-and-place process.