High speed Fragile object manipulation

Abstract

This paper describes the optimization of picking up soft goods moving on a belt conveyor using a high speed manipulator driven by linear motors and equipped with a vacuum gripper structure and a computer vision system. A special gripper with several grasping devices and with a rotational degree of freedom has been designed to cope with object orientation. The vision system determines the location and orientation of the objects in the task space of the robot and the control system is in charge of the correct manipulation of the products. Also, this work presents the development and results of a pastry industrial project, which has a particular emphasis, given its complexity, the Cartesian robot manipulator, which has been designed to optimize the process of handling and palletising in this industrial area.