Kinematic Redundancy in Robot Grasp Synthesis. An Efficient Tree-based Representation

  title={Kinematic Redundancy in Robot Grasp Synthesis. An Efficient Tree-based Representation},
  author={C{\'e}sar Fern{\'a}ndez Peris and {\'O}scar Reinoso and Maria Asunci{\'o}n Vicente and Rafael Aracil},
  journal={Proceedings of the 2005 IEEE International Conference on Robotics and Automation},
A redundancy resolution technique devoted to grasp synthesis is presented. Given a set of contact points and a certain robot arm and gripper, the goal is to select both the best assignment of gripper fingers to contact points and the best joint values that allow the fingers to reach such contact points. The system proposed is based on the generation of an inverse kinematics tree where fast searches can be performed in order to find the optimum configuration. Optimality is defined as similarity… CONTINUE READING

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