基于三维视觉的真空夹持器最佳抓取方法

Angel J. Valencia, Roger M. Idrovo, A. Sappa, D. P. Guingla, D. Ochoa
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引用次数: 23

摘要

一般来说,机器人抓取方法是基于多指抓取器的使用。然而,当需要操纵大尺寸物体时,真空夹具是首选,而不是基于手指的夹具。本文的目的是在考虑尺寸和几何形状未知的平面物体时,估计双吸盘真空抓取器的最佳抓取位置。该方法基于从部分点云(单个3D视图)中估计物体形状的几何属性,以这种方式结合理论模型的考虑来生成最佳接触点,从而最大限度地减少保证抓取所需的真空力。实验结果表明了该方法的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
A 3D vision based approach for optimal grasp of vacuum grippers
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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