Motion planning of intelligent manipulation by a parallel two-fingered gripper equipped with a simple rotating mechanism

This paper focuses on motion planning of a manipulator equipped with a parallel two-fingered gripper to execute a primitive task, i.e., moving an object to a goal pose. In a complex situation, the goal cannot be achieved in a single grasp, We propose a new, realistic approach to achieve the complex goal. In this approach, the goal can be reached by intelligent manipulations, which are planned by intelligently selecting and combining simple manipulations. This paper describes a method of motion planning of intelligent manipulations consisting of picking, placing, sliding, and rotating manipulations by a parallel two-fingered gripper. The rotating manipulation by gravity has been realized by a new small and simple mechanism we have developed and attached to a parallel two-fingered gripper. This system plans motions by adaptively selecting and combining these four simple manipulations to achieve the goal. We describe the implementation including motion planning for rotating manipulations, a searching algorithm, results of our application and the validity of this system