%0 Conference Proceedings
%T A 3D Vision Based Approach for Optimal Grasp of Vacuum Grippers
%A Angel Valencia
%A Roger Idrovo
%A Angel Sappa
%A Douglas Plaza
%A Daniel Ochoa
%B IEEE International Workshop of Electronics, Control, Measurement, Signals and their application to Mechatronics
%D 2017
%F Angel Valencia2017
%O ADAS; 600.086; 600.118
%O exported from refbase (http://refbase.cvc.uab.es/show.php?record=2917), last updated on Thu, 04 Apr 2019 12:34:31 +0200
%X 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 pointthat minimizes the vacuum force needed to guarantee a grasp.Experimental results in real scenarios are presented to show the validity of the proposed approach.
%U http://refbase.cvc.uab.es/files/VIS2017.pdf