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Author (up) Angel Valencia; Roger Idrovo; Angel Sappa; Douglas Plaza; Daniel Ochoa edit   pdf
doi  openurl
  Title A 3D Vision Based Approach for Optimal Grasp of Vacuum Grippers Type Conference Article
  Year 2017 Publication IEEE International Workshop of Electronics, Control, Measurement, Signals and their application to Mechatronics Abbreviated Journal  
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  Keywords  
  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.		  
  Address San Sebastian; Spain; May 2017  
  Corporate Author Thesis  
  Publisher Place of Publication Editor  
  Language Summary Language Original Title  
  Series Editor Series Title Abbreviated Series Title  
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  Area Expedition Conference ECMSM  
  Notes ADAS; 600.086; 600.118 Approved no  
  Call Number Admin @ si @ VIS2017 Serial 2917  
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