Grasping of Solid Industrial Objects Using 3D Registration

Robots allow industrial manufacturers to speed up production and to increase the product's quality. This paper deals with the grasping of partially known industrial objects in an unstructured environment. The proposed approach consists of two main steps: (1) the generation of an object model, using multiple point clouds acquired by a depth camera from different points of view; (2) the alignment of the generated model with the current view of the object in order to detect the grasping pose. More specifically, the model is obtained by merging different point clouds with a registration procedure based on the iterative closest point (ICP) algorithm. Then, a grasping pose is placed on the model. Such a procedure only needs to be executed once, and it works even in the presence of objects only partially known or when a CAD model is not available. Finally, the current object view is aligned to the model and the final grasping pose is estimated. Quantitative experiments using a robot manipulator and three different real-world industrial objects were conducted to demonstrate the effectiveness of the proposed approach.