Abstract Grasping and moving objects is a natural behavior in human daily life, whereas it turns into an enormous challenge with robots. To analyze the difficulty of grasping and moving target objects, a arm-hand system is performed with 7-DOF dual arms robot and bionic hand in this paper. A numerical method is proposed to solve the problem of arm motion planning. And a novel grasping strategy is proposed for enabling bionic hand to grasp efficiently. Finally, the effectiveness of the proposed methodology is demonstrated using both computer simulation and physical experiment.
Motion Planning and Object Grasping of Baxter Robot with Bionic Hand
2017-01-01
11 pages
Article/Chapter (Book)
Electronic Resource
English