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Towards an Autonomous Unwrapping System for Intralogistics
Centro di Ricerca “E. Piaggio” e Departimento di Ingnegneria dell’Informazione, Università di Pisa, Pisa, Italia.
Centro di Ricerca “E. Piaggio” e Departimento di Ingnegneria dell’Informazione, Università di Pisa, Pisa, Italia.
Centro di Ricerca “E. Piaggio” e Departimento di Ingnegneria dell’Informazione, Università di Pisa, Pisa, Italia.ORCID iD: 0000-0003-1627-0921
Centro di Ricerca “E. Piaggio” e Departimento di Ingnegneria dell’Informazione, Università di Pisa, Pisa, Italia.
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2019 (English)In: IEEE Robotics and Automation Letters, ISSN 2377-3766, E-ISSN 1949-3045, Vol. 4, no 4, p. 4603-4610Article in journal (Refereed) Published
Abstract [en]

Warehouse logistics is a rapidly growing market for robots. However, one key procedure that has not received much attention is the unwrapping of pallets to prepare them for objects picking. In fact, to prevent the goods from falling and to protect them, pallets are normally wrapped in plastic when they enter the warehouse. Currently, unwrapping is mainly performed by human operators, due to the complexity of its planning and control phases. Autonomous solutions exist, but usually they are designed for specific situations, require a large footprint and are characterized by low flexibility. In this work, we propose a novel integrated robotic solution for autonomous plastic film removal relying on an impedance-controlled robot. The main contribution is twofold: on one side, a strategy to plan Cartesian impedance and trajectory to execute the cut without damaging the goods is discussed; on the other side, we present a cutting device that we designed for this purpose. The proposed solution presents the characteristics of high versatility and the need for a reduced footprint, due to the adopted technologies and the integration with a mobile base. Experimental results are shown to validate the proposed approach.

Place, publisher, year, edition, pages
IEEE, 2019. Vol. 4, no 4, p. 4603-4610
Keywords [en]
Pallets, Wrapping, Robots, Plastics, Task analysis, Impedance, Surface impedance, Logistics, compliance and impedance control, industrial robots, automatic unwrapping
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
URN: urn:nbn:se:oru:diva-78007DOI: 10.1109/LRA.2019.2934710ISI: 000494827600026OAI: oai:DiVA.org:oru-78007DiVA, id: diva2:1372196
Funder
EU, Horizon 2020, 732737
Note

Funding Agency:

Ministero dell' Istruzione, dell' Universita e della Ricerca (MIUR)

Available from: 2019-11-22 Created: 2019-11-22 Last updated: 2020-03-10Bibliographically approved

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Mannucci, AnnaStoyanov, TodorMagnusson, Martin
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