Learning Suction Cup Dynamics from Motion Capture: Accurate Prediction of an Object's Vertical Motion during Release

Menno Lubbers,Job van Voorst,Maarten Jongeneel,Alessandro Saccon,Menno Lubbers,Job van Voorst,Maarten Jongeneel,Alessandro Saccon

Suction grippers are the most common pick-and-place end effectors used in industry. However, there is little literature on creating and validating models to predict their force interaction with objects in dynamic conditions. In this paper, we study the interaction dynamics of an active vacuum suction gripper during the vertical release of an object. Object and suction cup motions are recorded usin...