This paper describes the use of Moveit motion planning software for implementing an articulated robot based automatic pick and place system for a retail warehouse. The proposed system is expected to automatically pick things from a rack and place them in a tote and vice-versa, based on an order rle. Currently, these tasks are carried out by humans leading to higher cost of operation. The motion planning methods are demonstrated through both simulation and real world experiments. We believe that the details provided in the paper will act as a tutorial for beginners and reference manual for experienced researchers and practising engineers. KEYWORDS robot manipulator, pick and place, motion planning, inverse kine-matics, TRAC-IK, Moveit.
|Number of pages||6|
|Publication status||Published - 22 Nov 2017|
|Event||Advances in Robotics (AIR 2017) - Indian Institute of Technology, New Delhi, India|
Duration: 28 Jun 2017 → 2 Jul 2017
|Conference||Advances in Robotics (AIR 2017)|
|Period||28/06/17 → 2/07/17|
Jotawar, S., Soni, M., & Kumar, S. (2017). Motion Planning for an Automated Pick and Place Robot in a Retail Warehouse. Paper presented at Advances in Robotics (AIR 2017), New Delhi, India. https://doi.org/10.1145/3132446.3134904