TY  - CONF
AU  - Angel Valencia
AU  - Roger Idrovo
AU  - Angel Sappa
AU  - Douglas Plaza
AU  - Daniel Ochoa
A2  - ECMSM
PY  - 2017//
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
N2  - 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.
L1  - http://refbase.cvc.uab.es/files/VIS2017.pdf
N1  - ADAS; 600.086; 600.118
ID  - Angel Valencia2017
ER  -