Abstract—Grasping of unstructured parts is a problem in automated assembly. In this paper, grasping of unstructured manufacturing parts is considered, where the parts are unambiguously seen first time via vision sensor. The problem lies on grasping these unknown parts, where the three dimensional view of parts is not available. For grasping efficiently, the end-effector is equipped with a vision and ultrasonic sensor. The demonstration is explained in details in the paper. The desired grasping point is found out by the bounding rectangle and image frame size contour to calculate the total number of the pixel on parts. Acceptable parts grasping point can be calculated in the presence of HSV noise. Experiments analysis is done on different unknown objects for evaluation.
Index Terms—Vision and Ultrasonic sensor integration; robotics end-effector, grasping point.
The authors are with the Department of Industrial Design, NIT, Rourkela, India (e-mail: omprakashsahu@gmail.com, bunil.balabantaray@gmail.com, nibeditamishra2005@gmail.com, bbbiswal@nitrkl.ac.in).
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Cite: Om Prakash Sahu, Bunil Balabantaray, Nibedita Mishra, and Bibhuti Bhushan Biswal, "An Integrated Approach of Sensors to Detect Grasping Point for Unstructured 3-D Parts," International Journal of Engineering and Technology vol. 9, no. 1, pp. 84-88, 2017.
