MOTION PLANNING OF INTELLIGENT MANIPULATION BY A PARALLEL 2-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., movi ng an object to a goal pose, In a complex situation, the goal cannot b e 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 selecti ng and combining simple manipulations. This paper describes a method o f motion planning of intelligent manipulations consisting of picking, placing, sliding, and rotating manipulations by a parallel two fingere d gripper, The rotating manipulation by gravity has been realized by a new small and simple mechanism we have developed and attached to a pa rallel two-fingered gripper, This system plans motions by adaptably se lecting and combining these four simple manipulations to achieve the g oal, We describe the implementation including motion planning for rota ting manipulations, a searching algorithm, results of our application and the validity of this system.