Random Coin Recognition and Robotic Pick-and-Place

Bin-picking of random parts is an important application problem in robotic automation systems, especially coins which act as two-dimensional objects used in daily commercial routines. This paper designs a robotic eye-in-hand visual feedback control system to detect and classify randomly distributed coins, and pick-and-place coins to the target locations. The specific experimental tasks are pick-and-insert a coin in the coin-plate into an individual moneybox, and pick-and-stack an individual coin from the bottom up to like a cylinder.