3-D image processing and grasping planning expert system for distorted and cracked objects. 2nd report. Determination method of work surface, grasping surfaces and grasping points.
Toshio Fukuda, Osamu Hasegawa · TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C · 1991
In this paper, we propose a grasping planning method for distorted and cracked objects for the application in a micromanipulator system. In the previous report, we proposed a new 3-D recognition method for distorted and cracked objects, such as superconductive products. The proposed system makes use of the obtained and recognized 3-D data of the object to determine the work surface, the graspable surfaces and the grasping points. In the case where the most suitable grasping point is not in the working area of the manipulator, the system calculates a path to grasp the object by the manipulator. The processes of this method are shown in this paper.