Improving Autonomous Robot Gripper Position on Lifting Trash Objects based on Object Geometry Parameters and Centroid Modification.

Waste management in the modern urban era requires a more advanced and efficient approach. Autonomous robots have emerged as an innovative solution to address this challenge. The robot’s success in collecting trash cannot be separated from the ability of the robot’s gripper to pick up the trash. This study aims to improve the positioning accuracy of the gripper robot in lifting trash objects. If the geometrical parameters of the objects are different, there is a possibility that the centroid points are in the 2D area so that the gripper robot cannot grip and lift the trash objects. Likewise, if there is a difference in weight, the robot gripper will have difficulty lifting the object because the object is one-sided. For this reason, removing trash objects needs to be improved by considering several parameters, not only the centroid parameter. A method for lifting trash objects is proposed based on several parameters: geometry, centroid and trash object type. The proposed method is Object Geometry Parameters and Centroid Modification (OGP-CM). The test results show that the OGP-CM method can set the centroid position based on the geometric parameters and the type of trash. On the same object geometry, the improvement in accuracy is relatively low, ranging from 0.46% to 1.72%. A relatively great improvement in accuracy occurs for different object geometries, ranging from 11.54% to 13.09%. Thus, improving the position of the autonomous robot gripper in lifting objects using OGP-CM has been successfully carried out.