JRM Vol.25 No.3 pp. 538-544
doi: 10.20965/jrm.2013.p0538


Grasp Motion Planning with Redundant DOF of Grasping Pose

Kazuyuki Nagase and Yasumichi Aiyama

Graduate School of System and Information Engineering, University of Tsukuba, 1-1-1 Tennodai, Tsukuba, Ibaraki 305-8573, Japan

October 19, 2012
April 22, 2013
June 20, 2013
manipulation, motion planning, collision avoidance, redundancy, impedance control

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.

Cite this article as:
Kazuyuki Nagase and Yasumichi Aiyama, “Grasp Motion Planning with Redundant DOF of Grasping Pose,” J. Robot. Mechatron., Vol.25, No.3, pp. 538-544, 2013.
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