  Individualized manufacturing of cars requires kitting: the collection of
individual sets of part variants for each car. This challenging logistic task
is frequently performed manually by warehouseman. We propose a mobile
manipulation robotic system for autonomous kitting, building on the Kuka Miiwa
platform which consists of an omnidirectional base, a 7 DoF collaborative iiwa
manipulator, cameras, and distance sensors. Software modules for detection and
pose estimation of transport boxes, part segmentation in these containers,
recognition of part variants, grasp generation, and arm trajectory optimization
have been developed and integrated. Our system is designed for collaborative
kitting, i.e. some parts are collected by warehouseman while other parts are
picked by the robot. To address safe human-robot collaboration, fast arm
trajectory replanning considering previously unforeseen obstacles is realized.
The developed system was evaluated in the European Robotics Challenge 2, where
the Miiwa robot demonstrated autonomous kitting, part variant recognition, and
avoidance of unforeseen obstacles.
