| Home | << 1 >> |
|
| Record | |||||
|---|---|---|---|---|---|
Author  |
Angel Valencia; Roger Idrovo; Angel Sappa; Douglas Plaza; Daniel Ochoa | ||||
| Title | A 3D Vision Based Approach for Optimal Grasp of Vacuum Grippers | Type | Conference Article | ||
| Year | 2017 | Publication | IEEE International Workshop of Electronics, Control, Measurement, Signals and their application to Mechatronics | Abbreviated Journal | |
| Volume | Issue | Pages | |||
| Keywords | |||||
| Abstract | In general, robot grasping approaches are based on the usage of multi-finger grippers. However, when large size objects need to be manipulated vacuum grippers are preferred, instead of finger based grippers. This paper aims to estimate the best picking place for a two suction cups vacuum gripper,
when planar objects with an unknown size and geometry are considered. The approach is based on the estimation of geometric properties of object’s shape from a partial cloud of points (a single 3D view), in such a way that combine with considerations of a theoretical model to generate an optimal contact point that minimizes the vacuum force needed to guarantee a grasp. Experimental results in real scenarios are presented to show the validity of the proposed approach. |
||||
| Address | San Sebastian; Spain; May 2017 | ||||
| Corporate Author | Thesis | ||||
| Publisher | Place of Publication | Editor | |||
| Language | Summary Language | Original Title | |||
| Series Editor | Series Title | Abbreviated Series Title | |||
| Series Volume | Series Issue | Edition | |||
| ISSN | ISBN | Medium | |||
| Area | Expedition | Conference | ECMSM | ||
| Notes | ADAS; 600.086; 600.118 | Approved | no | ||
| Call Number | Admin @ si @ VIS2017 | Serial | 2917 | ||
| Permanent link to this record | |||||