Grasp Motion Planning with Redundant DOF of Grasping Pose | Zendy

Kazuyuki Nagase | Zendy; Yasumichi AIYAMA | Zendy

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Grasp Motion Planning with Redundant DOF of Grasping Pose

Author(s) -

Kazuyuki Nagase,

Yasumichi AIYAMA

Publication year - 2013

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2013.p0538

Subject(s) - grasp , obstacle , computer science , obstacle avoidance , motion planning , motion (physics) , artificial intelligence , object (grammar) , computer vision , manipulator (device) , robot , control theory (sociology) , control engineering , engineering , mobile robot , control (management) , programming language , political science , law

In this paper, we propose a new method of grasp planning for a manipulator with a parallel jaw gripper in obstacle environment. We consider collision avoidance as a problem of motion planning in obstacle environments. In general, however, a redundant degree of freedom (DOF) is required to avoid obstacle and to grasp. In our proposal, we pay attention to redundant DOF in a grasping pose. Using redundant DOF in a grasping pose, a manipulator can avoid obstacles and grasp a target object. It does not require any redundant manipulators.

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