Modeling of an object manipulation motion planner and grasping rules

Pavel Dzitac*, Abdul Md Mazid

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference proceeding contributionpeer-review

1 Citation (Scopus)

Abstract

This paper presents the development of a Motion Planning Module for object manipulation, which is a part of previously developed robotic grasping and manipulation controller. The Motion Planning Module consists of a sensing processor, decision making module, instinctive controller, motion planner and a planned motion controller. Details related to the design and modelling of the motion planning module have been offered. Results of experiments on human grasping rule, suitable for the grasping and manipulation controller, have been discussed. The output of this research may be useful to those developing motion planning strategies for their grasping and manipulation controllers.

Original languageEnglish
Title of host publicationAdvances in mechatronics and control engineering
EditorsYu-Hae Kim, Prasad Yarlagadda
Place of PublicationDurnten-Zurich
PublisherTrans Tech Publications
Pages664-672
Number of pages9
ISBN (Print)9783037855959
DOIs
Publication statusPublished - 2013
Externally publishedYes
Event2012 International Conference on Mechatronics and Control Engineering, ICMCE 2012 - Guangzhou, China
Duration: 29 Nov 201230 Nov 2012

Publication series

NameApplied Mechanics and Materials
Volume278-280
ISSN (Print)1660-9336
ISSN (Electronic)1662-7482

Other

Other2012 International Conference on Mechatronics and Control Engineering, ICMCE 2012
CountryChina
CityGuangzhou
Period29/11/1230/11/12

Keywords

  • Grasp planning
  • Intelligent grasping
  • Motion planning
  • Robotic manipulation

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