C4.3 - Optimized Grasp Planning for Bin-Picking Robots with 2D and 3D Sensor Data
- Event
- SMSI 2025
2025-05-06 - 2025-05-08
Nürnberg - Band
- Lectures
- Chapter
- C4 - Robotics
- Author(s)
- R. Haas, N. Hangst, T. Wendt - Offenburg University of Applied Sciences, Offenburg (Germany)
- Pages
- 155 - 156
- DOI
- 10.5162/SMSI2025/C4.3
- ISBN
- 978-3-910600-06-5
- Price
- free
Abstract
Bin-picking systems face challenges in fully emptying containers due to collision risks in real-world scenarios. In this contribution, we present a grasp planning approach that combines 2D and 3D sensor data to ensure collision-free handling. The method is successfully tested on objects with eccentric centers of mass and is implemented directly on the robot’s control unit, eliminating the need for separate computing hardware.