Estimation of grasp type and determining grasping points for Adaptive Grasping Device

Michał Czubenko; Piotr Łyczko; Rafał Okuński

doi:10.24425/acs.2025.153959

Estimation of grasp type and determining grasping points for Adaptive Grasping Device

Abstract

The article describes the grasping point algorithm (GPA), aimed to determine points for picking up objects by a manipulator equipped with a proprietary gripper enabling three picking modes (suction cup, two fingers, three fingers). The paper outlines the topic of unknown object picking using various types of grippers, both from a stack of objects and stand-alone items. It describes details of four methods available in the literature. Presented GPA algorithm consists of four separate functions dedicated to appropriate grasping methods chosen based on a decision-making process. The dedicated functions has been described in detail and tested. Used methods have been tested manually on 15 different objects. GPA algorithm has been evaluated in realworld tests as well. The presented tests showed efficiency of approximately 92% in the case of moving previously unknown objects from the stack to the target cuvette.

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Category:

Articles

Type:

artykuły w czasopismach

Published in:

Archives of Control Sciences no. 35(LXXI), pages 89 - 121,
ISSN: 1230-2384

Language:

English

Publication year:

2025

Bibliographic description:

Czubenko M., Łyczko P., Okuński R.: Estimation of grasp type and determining grasping points for Adaptive Grasping Device// Archives of Control Sciences -,iss. 1 (2025), s.89-121

DOI: