Grasping points for handle objects in a cooperative disassembly system

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Title: Grasping points for handle objects in a cooperative disassembly system
Authors: Díaz Baca, Carolina Soledad | Puente Méndez, Santiago T. | Torres, Fernando
Research Group/s: Automática, Robótica y Visión Artificial
Center, Department or Service: Universidad de Alicante. Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal
Keywords: Grasping points | Cooperative | Disassembly
Knowledge Area: Ingeniería de Sistemas y Automática
Issue Date: 26-Nov-2007
Abstract: This paper proposes a method to obtain grasping points oriented mainly to disassembly cooperative tasks. It is based in applying morphological operations to binary images, which represent the inertial plane of the product to be disassembled. The method is concern in disassembled application with two or more robotic manipulator working cooperatively, and in task in which robots interact with humans. It takes into consideration constraints like: load balance, cooperation type, and accessible surface.
Description: Comunicación presentada en IFAC International Workshops Intelligent Assembly and Disassembly (IAD'07), Intelligent Manufacturing Systems (IMS'07), 23-25 May 2007, Campus of San Vicente del Raspeig, Alicante, Spain
Sponsor: This work was funded by the Spanish MCYT project “DESAURO: Desensamblado automático selectivo para reciclado mediante robots, cooperativos y sistema multisensorial” (DPI2002-02103), and the Spanish MEC project “Diseño, implementación y experimentación de escenarios de manipulación inteligentes para aplicaciones de ensamblado y desensamblado automático” (DPI2005-06222), and by the Spanish G.V. project “Desensamblado automático cooperativo para el reciclado de productos” (GV05/003).
Language: eng
Type: Other
Peer Review: si
Appears in Collections:INV - AUROVA - Comunicaciones a Congresos Internacionales

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