Bin-picking: para além da manipulação estruturada

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Vítor M. Ferreira dos Santos IZa#/ (*& '() (,% %-% k^idg5jV#ei Egd[# cV Jc^kZgh^YVYZ YZ 6kZ^gd# >ckZhi^\VYdg cd 8Zcigd YZ IZXcdad\^V BZX}c^XV Z 6jidbV d " I:B6# BZbWgd YV 8db^hh d :heZX^Va^oVYV Yd ;Zhi^kVa CVX^dcVa YZ GdW i^XV Z YV 8db^hh d :heZX^Va^oVYV YZ GdW i^XV >cYjhig^Va

D O S S I E R MANIPULAÇÃO E ARMAZÉNS A U TO M AT I Z A D O S

BIN-PICKING: PARA ALÉM DA MANIPULAÇÃO ESTRUTURADA INTRODUÇÃO 6 GdW i^XV >cYjhig^Va hjg\^j cV Y XVYV YZ *% Yd h Xjad MM VigVk h YV Zb" egZhV Jc^bVi^dc! [jcYVYV eZad VbZg^XVcd ?dhZe] :c\ZaWZg\Zg! Xdch^YZgVYd jc^kZghVabZciZ Xdbd d eV^ YV GdW i^XV >cYjhig^Va# 6 ZcigVYV! YZ [VXid! Yd eg^bZ^gd bVc^ejaVYdg cV egdYj d ^cYjhig^Va dXdggZj Zb &.+& cjbV [{Wg^XV YV <ZcZgVa Bdidgh0 igViVkV"hZ Yd Jc^bViZ ;^\jgV & Z VegZhZciVkV jb Zh" igjijgV X^cZb{i^XV Yd i^ed Zh[ g^Xd! dj hZ_V! Xdb V iZgXZ^gV _jciV eg^hb{i^XV! XVgVXiZg hi^XV fjZ Va^{h k^g^V V eVgi^a]Vg Xdb V Vgfj^iZXijgV YZ HiVcY[dgY Xg^VYV V eVgi^g YZ &.+.! Z fjZ V^cYV ]d_Z edhh kZa ZcXdcigVg Zb Va\jch robots ^cYjhig^V^h#

Bj^iVh kZoZh! ZhiVh VaiZgV Zh Vi edYZg^Vb hZg bZgVh eVgV\Zch dj eVjhVh cV ZmZXj d! eVgV a^YVg Xdb ZkZcijV^h XdchigVc\^bZcidh YZ XVY cX^Vh YZ jbV fjVafjZg a^c]V YZ bdciV\Zb dj Yd egdXZhhd YZ bVc^ejaV d# Edg b! eVgV Va b YZhhVh VX Zh YZ bVc^ejaV d bV^h dj bZcdh ZhigjijgVYV! d egdWaZbV edYZ hZg bj^id bV^h XdbeaZmd! Z dWg^\Vg Vi Vd gZeaVcZVbZcid YZ igV_ZXi g^Vh Z Vi YZ gZ"hZfjZcX^V d XdbeaZiV YVh deZgV Zh# 6a^VYd V djigVh [gZciZh egdb^hhdgVh Yd egZhZciZ Z Yd [jijgd YV GdW i^XV >cYjhig^Va! Xdbd hZ VWdgYV bV^h | [gZciZ! jb egdWaZbV bj^id VXijVa Z V^cYV hZb hd" aj d YZÒc^i^kV! d X]VbVYd Æbin-pickingÇ dj! cjbV igVYj d a^kgZ! gZXda]V YZ eZ Vh YZ jb XdciZcidg dj XV^mdiZ! Z fjZ aZkVciV \gVcYZh YZhVÒdh YZ eZgXZe d Z bVc^ejaV d#

APANHAR PEÇAS DE CAIXOTES

Figura 1 Õ Jc^bViZ! d eg^bZ^gd bVc^ejaVYdg cV egdYj d ^cYjhig^Va Zb &.+& P&R#

9jgVciZ ZhiZh *% Vcdh YZhYZ V ZcigVYV Zb deZgV d Yd Jc^bViZ! bj^id hZ [Zo cV GdW i^XV >cYjhig^Va bjcY^Va! Z Vh Vea^XV Zh Ydh bVc^ejaVYdgZh XdWgZb egVi^XVbZciZ idYVh Vh ^cY hig^Vh! YZhYZ V Vjidb kZa! dcYZ XdbZ dj! | Va^bZciVg Z djigVh {gZVh bdYZgcVh Xdbd V [VgbVX ji^XV! ^cXaj^cYd hdaj Zh XVYV kZo bV^h hdÒhi^XVYVh! X]Z\VcYd | ^beaZbZciV d YZ X ajaVh ^cYjhig^V^h Xdb V ^ciZ\gV d Zb VgbVo ch ^ciZa^\ZciZh! ZcigZ djigVh# 6 Zkdaj d XdciZbeadj ^c bZgVh [gZciZh Xdbd dh bViZg^V^h jhVYdh cV ZhigjijgV! dh VXijVYdgZh! dh XdcigdaVYdgZh! Vh igVchb^hh Zh! V b^g VYZ Z XdbeaZm^YVYZ YZ \VggVh Z e^c Vh! Z Vi cdh Va\dg^ibdh YZ Xdcigdad eVgV \V" gVci^g bZa]dg gZeZi^W^a^YVYZ Z kZadX^YVYZ# IVbW b Vh ZhigjijgVh X^cZb{i^XVh Zkdaj gVb Xdbd V HiVcY[dgY dj dh H86G6 Vi Vdh bdYZadh Vcigdedb gÒXdh YV VXijVa^YVYZ Xdb + Z ,! dj bV^h! \gVjh YZ a^WZgYVYZ# Edg b! Zm^hiZ jbV [gZciZ fjZ VeVgZXZ Zb eVgVaZad! bVh iVakZo bZcdh VeV" gVidhV! Z fjZ V fjZhi d YV eZgXZe d hZchdg^Va YZ fjZ dh bVc^ejaVYdgZh Zhi d YdiVYdh# 9ZhYZ V bV^h h^beaZh ^chigjbZciV d YV \VggV Vi Vd bV^h hdÒhi^XVYd h^hiZbV bjai^bdYVa YZ eZgXZe d ig^Y^bZch^dcVa! idYV ZhiV ^c[dgbV d YV eZgXZe d Yd VbW^ZciZ d fjZ eZgb^iZ! Zb g^\dg! X]VbVg “robot” V ZhiVh b{fj^cVh# :b kZo YZ jbV egV\b{i^XV egd\gVbV d YZ VX Zh gZeZi^i^kVh Xdbd [dgVb! Z V^cYV edYZb hZg! Va\jbVh Vea^XV Zh! V egZhZc V YV eZgXZe d ZmiZgdXZei^kV eZgb^iZ d [ZX]d YV bVa]V YZ gZVa^" bZciV d Z Vhh^b YdiVg Vh b{fj^cVh YZ XVeVX^YVYZ YZ VaiZgVg! YjgVciZ V ZmZXj d! Vh hjVh eg eg^Vh VX Zh eZaVh Xdci^c\ cX^Vh Yd VbW^ZciZ ZmiZgcd#

[50] robótica

w [{X^a k^hjVa^oVg VfjZaV ^bV\Zb Yd deZg{g^d cjbV a^c]V YZ bdciV\Zb fjZ iZb YZ ^chZg^g eZ Vh cd h^hiZbV dj Zfj^eVbZcid fjZ a]Z Zhi{ V eVh" hVg | [gZciZ# :hhVh eZ Vh V ^chZg^g Zhi d [gZfjZciZbZciZ VbdcidVYVh Zb XdciZcidgZh Vd hZj gZYdg Z fjZ ZaZ! bj^iVh kZoZh fjVhZ h edg iVXid! eZ\V hZb egZX^hVg YZ da]Vg Z fjZ YZed^h XdadXV cd gZheZXi^kd adXVa cV a^c]V fjZ ZcigZiVcid fjVhZ a]Z [d\Z Yd VaXVcXZ hZ ZaZ hZ VigVhVg# 6h eZ Vh VbdcidVYVh cdh XV^mdiZh dj eZfjZcdh XdciZcidgZh edYZb k^g YZ jbV b{fj^cV YZ ZhiVbeV\Zb! dj YZ ^c_ZX d! dj YZ fjVafjZg djigd egdXZhhd YZ [VWg^Xd Zb bVhhV# EZ Vh eZfjZcVh edYZb bj^iVh kZoZh hZg Y^hig^Wj YVh Xdb Va^bZciVYdgZh k^WgVi g^dh dj h^b^aVg! bVh ]{ bj^iVh \ZdbZig^Vh Z Y^bZch Zh dcYZ ^hhd c d k^{kZa Z! edgiVcid! gZfjZg"hZ jbV deZgV d Zm b^V eVgV Vh ZhXda]Zg! eZ\Vg Z Vi hZeVgVg fjVcYd Zhi d ^ciZga^\VYVh/ V ZhXda]V gZXV^ Zb \ZgVa cjb deZgVYdg ]jbVcd# :hiV ! Zb hjbV! V Zhh cX^V Yd bin-picking!

Figura 2 Õ >ajhigV d YZ h^ijV Zh YZ bin-picking.

6i ]{ edjXd iZbed! bVh fjZ Va^{h k^\dgV V^cYV eVgV bj^iVh h^ijV Zh! V hdaj d ]jbVcV ZgV V c^XV eVgV a^YVg Xdb V Y^ÒXjaYVYZ YZ hZeVgVg Z eZ\Vg eZ Vh dj XdbedcZciZh XdadXVYVh V \gVcZa cjb gZX^e^ZciZ# 8db dh YZhZckdak^bZcidh cV {gZV YV eZgXZe d ig^Y^bZch^dcVa fjZ dXdggZgVb! eZad bZcdh cV ai^bV Y XVYV! ZhhV gZVa^YVYZ Zhi{ V bjYVg bj^id gVe^YVbZciZ#


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