Using the Digital Twin Concept to Design and Validate a Robotized Bin Picking Process

The paper describes the design and implementing solution for the digital twin of a robotized 3D vision-based bin picking process. The authors describe the design of the gripper and the robot-vision control for an efficient and safe bin picking process, which is validated by simulation. The shape, dimension, and orientation of the end effector are computed to allow the robot to handle parts safely, avoiding collisions with both the bin walls and neighbouring parts. A strategy is also proposed to handle parts in layered mode.