GRASPING POINTS FOR HANDLE OBJECTS IN A COOPERATIVE DISASSEMBLY SYSTEM

this paper proposes a method to obtain grasping points oriented mainly to disassembly cooperative tasks. It is based in applying morphological operations to binary images, which represent the inertial plane of the product to be disassembled. The method is concern in disassembled application with two or more robotic manipulator working cooperatively, and in task in which robots interact with humans. It takes into consideration constraints like: load balance, cooperation type, and accessible surface.