Whole Arm Manipulation Planning Based on Grasp Dynamic Properties and Sampling-Based Algorithms with inematic Analysis
Keywords:
whole arm manipulation, manipulation planning,grasp quality, kinematic analysis, randomized path planning
Abstract:
This paper proposes a novel planner for wholearm manipulation for approximate trajectory tracking andto guarantee object stable grasp. Planning for whole armmanipulation requires a method that assures the stabilityand quality of the grasp since contact points are constantlychanging. To guarantee acceptable quality and safety of thegrasp along movement, a global planner is developed basedon evaluation of proposed quality measures. Moreover, toachieve feasible trajectory for changing the configuration,by considering the system constraints, a local planner isintroduced based on kinematic analysis and randomizedsampling-based motion planning method. Numerical examplefor 3-D manipulation verifies the effectiveness of the proposedplanner.