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dc.contributor.authorBokneberg, Sindre
dc.contributor.authorLangås, Even Falkenberg
dc.identifier.citationBokneberg, S. & Langås, E.F. (2021) Autonomous Pick-and-Place Procedure with an Industrial Robot Using Multiple 3D Sensors for Object Detection and Obstacle Avoidance (Master's thesis). University of Agder, Grimstad.en_US
dc.descriptionMaster's thesis in Mechatronics (MAS500)en_US
dc.description.abstractThis thesis proposes a full pipeline autonomous pick-and-place procedure, integrating perception, planning, grasping and control for execution of tasks towards long term industrial automation. Within perception, we demonstrate the detection of a large object (target) including position and orientation (pose) estimation in 3D world. Further on, obstacles in the work area are mapped with proposed filtering prior to motion planning and navigation of an industrial robot to the target’s pose. The target is then picked using a custom built motorized 3D printed end gripper, and placed at a desired location in the robot’s reachable environment. Point cloud based model-free obstacle avoidance is performed throughout the whole process. The complete pipeline is targeted towards typical tasks in various industries including offshore, logistics and warehouse domain with scanning of the scene, picking and placing of a bulky object from one position to another without or with minimal human intervention.en_US
dc.publisherUniversity of Agderen_US
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 Internasjonal*
dc.titleAutonomous Pick-and-Place Procedure with an Industrial Robot Using Multiple 3D Sensors for Object Detection and Obstacle Avoidanceen_US
dc.typeMaster thesisen_US
dc.rights.holder© 2021 Sindre Bokneberg, Even Falkenberg Langåsen_US
dc.subject.nsiVDP::Teknologi: 500::Informasjons- og kommunikasjonsteknologi: 550::Teknisk kybernetikk: 553en_US

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Attribution-NonCommercial-NoDerivatives 4.0 Internasjonal
Except where otherwise noted, this item's license is described as Attribution-NonCommercial-NoDerivatives 4.0 Internasjonal