摘要：The following study presents the development of an algorithm for the detection of the grasp pointfor an object using gripper. The algorithm receives as input a white background image of the object to begrasped as well as the dimensions of the gripper in pixels. Also, the grip parameters are defined that will allowto discard those sections of the object that the gripper cannot take, parameters such as the minimum andmaximum thickness of the admissible grip section in order to prevent the fit between the gripper and the objectsection being too loose or too tight, the thickness of the tips of the gripper is taken as a parameter to avoidcollisions and the maximum degree of inclination between the object section and the surface of the gripper, sothat, in the adjustment between both, the object does not move too much. It was possible to obtain an algorithmthat allows to achieve a suitable point for taking objects in all cases evaluated, however, because of thedistance from the center of gravity of the object it requires a higher strength for its grasp.
