In-Box Picking System Design for Six-Axis Robot Arm

This paper designs and implements an in-box picking system for a six-axis robot arm. For the randomly stacked objects in the box, the system combined with a visual algorithm and a collision avoidance algorithm allows the robot arm to autonomously complete the picking and placing of the objects in the box. This paper discusses the problems at the system level, which uses object detection algorithms and point cloud data to deal with object classification and matching problems, and uses a collision avoidance algorithm to prevent the robot arm from colliding with the box. Finally, an actual test is presented to illustrate the proposed system can indeed complete the actual operation.