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Grasping objects is a well-known problem in robotics. If the objects to be grasped are known, usually they are to be placed at a desired position in a desired orientation. Therefore, the object pose w.r.t the gripper has to be known before placing the object. In this paper we propose a simple and efficient, yet robust approach to this challenge, which can (nearly) eliminate dead times of the employed...
The problem of object localization is a well-known problem in industrial robotics. Manufactured parts arrive at factories as bulk goods in boxes. Single parts need to be picked out of the boxes and have to be fed to a machine. The task of automatically isolating single objects is known as the bin-picking problem. Even in modern factories the task of bin-picking is not automated widely yet. The automatization...
In this paper we propose a generic 6d object localization approach based on surface normal images and CAD model data. Normal images or “normal maps” can be obtained using only one single camera shot of a simple camera-projector system. The advantages of this sensor setup are very short acquisition times and the exclusive use of consumer hardware, namely a projector and a grey value camera, making...
This article presents the application and enhancements of assembly strategies using force-torque maps in view of parallel robots. Starting from classical assembly strategies the fundamentals of force-torque maps are briefly discussed. Taking up the core idea, a strategy for assembling objects by parallel robots is proposed, where frictional effects are reduced by an enhanced force and position control...
Decamethylrhodocenium hexafluorophosphate has been synthesized from [RhCp*Cl 2 ] 2 and LiCp* (Cp*=η 5 -C 5 Me 5 ), and its X-ray crystal structure shows a star-shaped, perfectly staggered geometry.
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