Path Planning Process Optimization for a Bin Picking System

Nowadays, it is impossible to think of a flexible automatic production without robots. Robots are very important tools in tasks such as objects handling. In the industrial robotic area, especially in logistics, production and assembly, the necessity to sort objects can often be observed. Katsoulas already noted that "such systems are of great importance because they undertake a task that is very monotonous, strenuous and sometimes quite dangerous for humans". The most complex sorting task has been named bin picking. Due to the fact that in such application the system has not a certain previous knowledge of the environment, the integration of sensors as well as algorithms for the sensor evaluation and computation of a collision free path is vital to achieve a robust system.