Determining stable equilibria of spatial objects and validating the results with drop simulation

Robotic pick and place processes require the workpieces to be prepositioned and aligned to a fixed pose. This ensures the accurate grasping, but lacks flexibility and efficiency. Camera based solutions are available for simple workpieces, but no simple solution exists for complex ones. We offer a universal software, that determines the stable equilibrium poses of the workpiece from 3D model, and renders the top view image of it. This image can be compared to one captured by a single camera setup to determine the workpiece position and orientation in realtime for robotic application. The results are validated applying drop test simulation.