This flexible robotic feeding application is performed using a vibrating table with background illumination and a single 2D camera mounted on a UR5 collaborative robot. In this case, workpieces with complex geometry are manipulated in their precomputed stable poses according to their virtual 3D representation (created through either CAD design or 3D scanning). Semi-structured robotic bin-picking
The workpieces are identified by the projection of their stable poses on the camera image, then the pick-and-place task can be performed for the graspable, free workpieces using the corresponding gripping method. The vibrating table ensures that the separation and reorientation of the workpieces can be executed automatically, while the backlighting establishes the conditions for a robust image processing.
Music: Slip by geographer
