Abstract

A novel approach to grasping and recognizing parts in an industrial robotic work cell is presented in this paper. The centroid, orientation, and length of elongated parts lying on a flat work area are estimated by a sequence of simple algorithms. Off-theshelf components and freely downloadable software APIs make this system inexpensive and easily implemented. The approach has been implemented and tested with a St?ubli RX60 manipulator. Results and future research are presented.

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