PT Journal
AU Ardissone, E
   Ulrich, S
   Kirchheim, A
TI Design and Evaluation of an Automatic Decision System for Gripper Selection in Order Picking
SO Logistics Journal : Proceedings
PY 2023
VL 2023
IS 1
DI 10.2195/lj_proc_ardissone_en_202310_01
DE Automatisierung; Kommissionierung; E-Grocery; Greiferauswahl; automation; order picking; gripper selection
AB Grasping objects poses a challenge in the automation of order picking due to the diverse types of objects and complex real-world scenarios, necessitating the selection of an appropriate gripper for each object type. Existing gripper selection methods focus on generalized gripper selection systems able to grasp a large variety of objects in non-cluttered scenarios for handling in industrial applications. Within this paper, a knowledge-based gripper selection method for e-grocery items in cluttered scenarios is implemented as a binary decision tree. The results are validated through empirical tests, demonstrating an overall accuracy of 90.7 %. As the percentage of true negatives is 81.6 %, it is necessary to combine grasping principles to reduce the percentage of True Negatives in the future.
ER