Tracking and Grasping of Known and Unknown Objects from a Conveyor Belt

Inhalt:
In this paper we present an approach for grasping of objects from a moving conveyor belt. A tracking scheme is used to estimate the velocity of the object, respectively of the conveyor. The scheme we present allows for tracking of unknown rotationally symmetric objects and is based on a robust technique for estimating the axis of these objects adapted from a previous work. Aditionally we use template matching to track previously known objects. For grasping, a trajectory is planned for the gripper that chases the object and is able to synchronize to the object’s motion, allowing it to lift the object from the conveyor.