Experimental quantification of gripper limits determined by product detachment in a practical set up: Applied on high-speed case packing of packaged food

The detachment of a product from a suction cup gripper is a challenge that emerged in recent years in the high-speed case packing of packaged food. In this industry suction cups are used to temporarily attach a product to a case packing robot. The detachment of products from the suction cup gripper threatens throughput. In, some cases, the...

Performance study of single-query motion planning for grasp execution using various manipulators

This paper identifies high performing motion planners among three manipulators when carrying out grasp executions. Simultaneously, this paper presents useful benchmarking data. Sampling-based motion planners of OMPL available for use in MoveIt! are compared by performing several grasping-related motion planning problems. The performance of the...

Rope Caging and Grasping

We present a novel method for caging grasps in this paper by stretching ropes on the surface of a 3D object. Both topology and shape of a model to be grasped has been<br/>considered in our approach. Our algorithm can guarantee generating local minimal rings on every topological branches of a given model with the help of a Reeb graph. Cages and...