20.500.12556/DKUM-84797 Object detection and graspability analysis for robotic bin-picking application in intralogistics Robotics has been gaining attention in intralogistics applications in recent years. Automation of intralogistics processes aims to cope with the rising trends of workforce deficiency, aging, and increasing demands that came with the rise of E-commerce. Many improvements aim at bin-picking applications since order-picking requires most contributions while adding little to the products' value. Robotic bin-pickers are showing promising results; however, they are still subject to many limitations. First, the vision system must correctly determine the object's location and orientation. Second, a correct robotic gripper must be chosen. Lastly, appropriate grasping points that lead to successful picking must be selected. In this paper, we explore the influencing parameters of object detection using a 3D vision system. Second, we analyze an actual bin-picking application to determine the most appropriate selection of the robotic gripper. Based on the experiments, we provide the guidelines for selecting the most appropriate robotic bin-picking configuration. intralogistics robotic bin-picking detection analysis graspability analysis intralogistika robotsko komisioniranje analiza detekcije analiza oprijemljivosti true false true University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture Angleški jezik Slovenski jezik Drugo 2023-07-25 13:36:23 2023-07-25 13:36:24 2023-09-26 14:38:12 0000-00-00 00:00:00 2023 0 0 Str. 7-14 0000-00-00 Zaloznikova Objavljeno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 658:007.52 154810883 154849795 https://icil2023.fsb.hr/images/ICIL2023.Conference.Proceedings.pdf 1 812960fd-2adf-11ee-bc3f-00155d000105 https://dk.um.si/Dokument.php?lang=slv&id=168985 Bencak,_Hercog,_Lehrer_-_Object_detection_and_graspability_analysis_for_robotic_bin-picking_application_in_intralogistics.pdf Bencak,_Hercog,_Lehrer_-_Object_detection_and_graspability_analysis_for_robotic_bin-picking_application_in_intralogistics.pdf 1 5A92DE1CEEE4CA3CDBAEE7FAD53D79AC da6465c098cbe74cb5a06630d9d2546a75d0f64f67ee785307934af3e40233f2 43f49072-2ae3-11ee-bc3f-00155d000105 https://dk.um.si/Dokument.php?lang=slv&id=168986 Fakulteta za logistiko Fakulteta za elektrotehniko, računalništvo in informatiko Fakulteta za strojništvo 0 0 0