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Angel Valencia, Roger Idrovo, Angel Sappa, Douglas Plaza, & Daniel Ochoa. (2017). A 3D Vision Based Approach for Optimal Grasp of Vacuum Grippers. In IEEE International Workshop of Electronics, Control, Measurement, Signals and their application to Mechatronics.
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.
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