Simplificación de la tarea de picking industrial para el diseño de un sistema robótico.

Item storage and retrieval is forming a crucial part of nearly every industry. The complexity of this process increases dramatically when the stored items differ in shape, color, texture and weight. In this paper we are going to discuss the different aspects of the problem and propose a solution based on a Dual-Arm robotic system, a conveyorlike system and a customized storage system. The items to be picked by the robot have different physical properties that were taken into account while designing the storage system, the conveyor and the grippers.