The wrist camera should also use bin-picking software to fully identify the shape of the objects to pick and also their relative position (if they are randomly located in a box, for example). This would allow the cobot to fully identify the position and orientation of the objects to pick and drop. Also, the cobot should be equipped with a wrist camera to identify objects and landmark. For example, the controlling computer can be substituted by a single-board-computer without any advantage. The amount of equipment that is located on-board of the AGV can be significantly reduced, freeing space and lowering the weight that the AGV carries. In terms of improvements, a different robotic hand will be used in the final setup, depending on the type of objects that are being required to move. Although all the system design objectives were accomplished, there are still opportunities to improve and add features to the presented solution. The system proved to work very well, executing all the features required for an order-picking system working in an Industry 4.0 scenario where humans and machines must act as co-workers. The objective was to design a system that could be easy to use, to adapt to different applications and that could be a basic infrastructure for advanced order-picking systems. A solution to fully automate the order-picking task at an industrial shop-floor was presented and fully demonstrated.
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