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.

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Author:Ludwig VogtGND, Robert Ludwig, Johannes SchilpGND
Frontdoor URL
Parent Title (English):Procedia CIRP
Publisher:Elsevier BV
Place of publication:Amsterdam
Year of first Publication:2023
Publishing Institution:Universität Augsburg
Release Date:2023/07/25
First Page:253
Last Page:258
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 (mit Print on Demand)