Fig. 13

Depth images displaying the extracted product contours and picking positions for cardboard sheets with three different cut-out patterns (a–c), and a nearly cylindrical aluminium fuel tank for trucks provided with a protruding refuelling opening and a hole for installing a level sensor (d). Four commercially available grippers with various geometries were applied during grasp planning: a Piab Kenos KCS, \(\varPsi = 1.0\); b FormHand FH-R150, \(\varPsi = 0.6\); c Goudsmit HGC-RO-100-VR-M-G-F, \(\varPsi = 1.0\); d Piab Kenos KVG 480 \(\times\) 122 [mm], \(\varPsi = 0.2\)