Automatic Grasp Generation for Vacuum Grippers for Random Bin Picking

In random bin picking, grasps on a workpiece are often defined manually, which requires extensive time and expert knowledge. In this paper, we propose a method that generates and prioritizes grasps for vacuum and magnetic grippers by analyzing the CAD model of a workpiece and gripper geometry. Using projections of these models, heatmaps such as the overlap of gripper and workpiece, the center of gravity, and the surface smoothness are generated. To get a combined heatmap, which estimates the probability for a successful grip, all individual heatmaps are fused by means of a weighted sum. Grid-based sampling generates prioritized grasps and suggests the most suitable gripper automatically. This approach increases the autonomy of bin picking significantly.