Whole arm manipulation planning based on grasp dynamic properties and sampling-based algorithms with kinematic analysis

This paper proposes a novel planner for whole arm manipulation for approximate trajectory tracking and to guarantee object stable grasp. Planning for whole arm manipulation requires a method that assures the stability and quality of the grasp since contact points are constantly changing. To guarantee acceptable quality and safety of the grasp along movement, a global planner is developed based on evaluation of proposed quality measures. Moreover, to achieve feasible trajectory for changing the configuration, by considering the system constraints, a local planner is introduced based on kinematic analysis and randomized sampling-based motion planning method. Numerical example for 3-D manipulation verifies the effectiveness of the proposed planner.