Abstract
In this research, we adopt a robot system for selecting a gripper automatically from a gripper changing system to pick objects from a pile. Due to their geometry and structures, grippers’ abilities to handle objects vary. Therefore, each gripper needs to have its own grasp planning algorithm. For this reason, we employ a multi-agent system, with which we can easily add grippers and their grasp planning algorithms to our robot system. However, the agents of the system need to be compatible to other elements of the robot system such as: camera control, image processing, robot control, etc. The goal of this researchis to find an optimal grasping sequence for picking objects from a pile. The key to success is to avoid the change of the grippers, which requires long execution time.
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Rembold, D., Belogroudov, V., Laengle, T., Woern, H. (2000). Automatic Selection of Grippers for Object Handling. In: Dillmann, R., Wörn, H., von Ehr, M. (eds) Autonome Mobile Systeme 2000. Informatik aktuell. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-59576-9_10
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DOI: https://doi.org/10.1007/978-3-642-59576-9_10
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-41214-4
Online ISBN: 978-3-642-59576-9
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