Generic Development of Bin Pick-and-Place System Based on Robot Operating System

Bin pick-and-place is an important topic in factory automation and warehouse automation. In this paper, a bin system based on robot operating (ROS) implemented to make six-degree-of-freedom (6-DOF) manipulator complete multiple tasks. The proposed uses ROS integrate object perception module module, where the former RGB-D camera capture images inside bin, latter controls 6-DOF two self-made vacuum tools. To estimate pose of target object, YOLOv4 detector implemented, sorting method find image. Then, estimation computer aided design (CAD) object. perform operations, coordinate transformation node designed transfer into workspace. link distance-based collision avoidance avoid collisions. Finally, angle 1-DOF tool picking placement poses are obtained from result study, total ten nodes designed, solutions that each function easier implement reproduce proposed. experiments, we set up four experiments with task types verify effectiveness system.