Angel J. Valencia, Roger M. Idrovo, A. Sappa, D. P. Guingla, D. Ochoa
{"title":"A 3D vision based approach for optimal grasp of vacuum grippers","authors":"Angel J. Valencia, Roger M. Idrovo, A. Sappa, D. P. Guingla, D. Ochoa","doi":"10.1109/ECMSM.2017.7945886","DOIUrl":null,"url":null,"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.","PeriodicalId":358140,"journal":{"name":"2017 IEEE International Workshop of Electronics, Control, Measurement, Signals and their Application to Mechatronics (ECMSM)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2017-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"23","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2017 IEEE International Workshop of Electronics, Control, Measurement, Signals and their Application to Mechatronics (ECMSM)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ECMSM.2017.7945886","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 23
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.