LiDAR-Based Orientation Monitoring of an Unknown Object During Manipulation with an Industrial Robot

Picking unknown objects in an automated process is a particular challenge in industrial robotics. Besides the actual pickup process, it is also important to check whether the picked object retains its orientation in the gripper while being manipulated in order to perform reliable collision-free path planning and ensure that the subsequent process continues without failure. This paper discusses the prerequisites, development, implementation, integration and evaluation of such monitoring of an unknown handling object in industrial robotics using LiDAR sensor technology.