1. 3D scan / trigger to cloud
Camera exposure, projector pattern, motion blur from vibration, and whether you scan once or re-scan after a failed pick.
Knowledge · Robotics
What drives bin picking cycle time?
Cycle time is the sum of vision, planning, and robot motion. Each stage has knobs; tightening one often shifts load to another.
Budget
Five blocks in every pick cycle
Treat cycle time as a budget you allocate across scan, compute, grasp selection, collision validation, and robot travel. Actual durations depend on hardware, scene complexity, and integration choices.
2. Compute
Point cloud processing, segmentation, pose estimation, and grasp candidate generation on IPC or edge GPU.
3. Grasp selection
Ranking feasible grasps by quality score, gripper reach, and expected success under clutter.
4. Collision checks
Bin walls, neighboring parts, gripper geometry, and approach path validation before motion starts.
5. Robot motion
Approach, pick, retreat, and place trajectories. Joint limits, speed caps, and singularity avoidance often dominate once vision is fast enough.
Trade-offs
Where teams win or lose time
- 01
Parallel scan and last motion
Trigger the next scan while the robot places, if safety and process allow.
- 02
Region of interest
Crop depth to the bin volume to cut point count and compute.
- 03
Grasp library vs full search
Pre-validated grasps per SKU speed planning; cluttered bins need wider search.
- 04
Fail-fast re-plan
A missed pick adds a full extra cycle. Budget recovery paths in the PLC and vision stack.
Cycle target in your project?
Share bin size, part mix, and required picks per minute. We break down where time is spent in your cell.