Automatic end tool alignment through plane detection with a RANSAC-algorithm for robotic grasping
- Camera based grasping algorithms enable the handling of unknown objects without a complete CAD model. In some scenarios, the captured information from a single view is not sufficient or no grasp is possible. For these cases, the precise realignment of the gripper is difficult because a suitable rotation is part of an infinite solution space. In this paper, we propose a framework which automatically identifies correct rotations from point clouds to adjust the gripper. We validate our approach in a virtual environment for a parallel jaw gripper with multiple isolated and grouped industrial objects.
| Author: | Ludwig VogtGND, Robert Ludwig, Johannes SchilpGND |
|---|---|
| URN: | urn:nbn:de:bvb:384-opus4-1063499 |
| Frontdoor URL | https://opus.bibliothek.uni-augsburg.de/opus4/106349 |
| ISSN: | 2212-8271OPAC |
| Parent Title (English): | Procedia CIRP |
| Publisher: | Elsevier BV |
| Place of publication: | Amsterdam |
| Type: | Article |
| Language: | English |
| Year of first Publication: | 2023 |
| Publishing Institution: | Universität Augsburg |
| Release Date: | 2023/07/25 |
| Volume: | 118 |
| First Page: | 253 |
| Last Page: | 258 |
| DOI: | https://doi.org/10.1016/j.procir.2023.06.044 |
| Institutes: | Fakultät für Angewandte Informatik |
| Fakultät für Angewandte Informatik / Institut für Informatik | |
| Fakultät für Angewandte Informatik / Institut für Informatik / Lehrstuhl für Ingenieurinformatik mit Schwerpunkt Produktionsinformatik | |
| Dewey Decimal Classification: | 0 Informatik, Informationswissenschaft, allgemeine Werke / 00 Informatik, Wissen, Systeme / 004 Datenverarbeitung; Informatik |
| Licence (German): |  CC-BY-NC-ND 4.0: Creative Commons: Namensnennung - Nicht kommerziell - Keine Bearbeitung |
