Bin Picking by Robot Arm Based on Object Position and Pose Recognition

Abstract

We propose a bin picking system for objects using a position and pose recognition method based on AI image processing. The image of objects is captured by a monocular camera and the position and pose of objects in the image are recognized using YOLOv8. Using the recognition results, the picking motion is determined, and the robot arm (DOBOT Magician) executes the bin picking task. To evaluate the object recognition accuracy and motion control stability of the bin picking system, the determined motions were executed multiple times on randomly arranged bolts in an experiment.