PickingDK: A Framework for Industrial Bin-Picking Applications

@Article {
title = {PickingDK: A Framework for Industrial Bin-Picking Applications},
journal = {Applied Sciences},
volume = {12},
keywds = {
robotics, bin-picking
}
abstract = {

This work presents an industrial bin-picking framework for robotics called PickingDK. The proposed framework employs a plugin based architecture, which allows it to integrate different types of sensors, robots, tools, and available open-source software and state-of-the-art methods. It standardizes the bin-picking process with a unified workflow based on generally defined plugin interfaces, which promises the hybridization of functional/virtual plugins for fast prototyping and proof-of-concept. It also offers different levels of controls according to the user’s expertise. The presented use cases demonstrate flexibility when building bin-picking applications under PickingDK framework and the convenience of exploiting hybrid style prototypes for evaluating specific steps in a bin-picking system, such as parameter fine-tuning and picking cell design.

}
doi = {10.3390/app12189200},
date = {2022-09-15},
}