A Grasping Posture Judgment Algorithm Based on Feature Circumscribed Rectangle

This paper proposes an optimal grasping system based on the circumscribed rectangle of the color feature. Firstly, the binocular camera generates a characteristic circumscribed rectangle according to the color characteristics of the object; Secondly, the disparity map and the triangle formula are combined to obtain the depth information collection of the object; Then, statistical filtering and surface flatness determination methods are applied to select suitable gripper; Finally, according to the normal at the center point of the circumscribed rectangle, the relationship between the Euler angle and the rotation vector is obtained, and then the optimal grasping pose vector is obtained. Experiments show that our method is effective and can be applied to the field of grasping or sorting.