PT Unknown
AU Angel Valencia
   Roger Idrovo
   Angel Sappa
   Douglas Plaza
   Daniel Ochoa
TI A 3D Vision Based Approach for Optimal Grasp of Vacuum Grippers
BT IEEE International Workshop of Electronics, Control, Measurement, Signals and their application to Mechatronics
PY 2017
AB 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.
ER