Abstract
In the industrial application, a single ABB-based depalletizing system can only have a limited region coverage. In this paper, we propose to have the ABB industrial robot cooperate with a KUKA mobile manipulator with manipulator to expand the working area of depalletizing. We integrate visual object detection, box locating and picking, mobile robot navigation, wireless communication and PLC controller into one whole system, which expands the ABB-based depalletizing problem from a fixed region to a flexible configurable one with the cooperation between the ABB industrial robot and KUKA mobile manipulator. To reduce the hardware cost, the proposed system enable two robotic systems to share one vision system to handle the box detection task. Meanwhile, to handle the difference on the coordinate system between the mobile robot and the fixed manipulator, an online calibration system is developed. Most importantly, the developed system can be easily extended to the cooperation of an ABB industrial robots with multiple KUKA manipulators into a industrial manufacturing setting.
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