An Efficient and Stable Grasp Planning Method for Stacked Parts

In the industrial scenes, it often requires to pick up the part quickly in part stacked scenes and then place it in the specific position. This paper proposes a method of grasp evaluation function for grasp planning. It considers collision and interference between gripper and other objects, relative height, grasp angle of the object and stability of grasping the object. In addition, we use the method of voxelization to describe the scene. The research team builds a robotic arm grasping system based on ROS, UR3 and Ensenso N35. We carry out grasp experiments on the stacked scene of a single kind of object. The accuracy is 79.55%. It takes 3.6 seconds to get a grasp pose, which basically meets the requirements of industrial use.