Robotic Grasping and Manipulation Controller Framework - Architecture Redevelopment

Dzitac, Pavel; Mazid, Abdul Md; Littlefair, Guy; Polishetty, Ashwin

doi:10.5220/0005043903680373

Cited by 3 publications

(2 citation statements)

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“…The complete object manipulation controller consists of specialised modules for object grasping and slippage control, which has been presented in an earlier publication [1]. For convenience the diagram in Fig.…”

Section: Manipulation Controller Architecturementioning

confidence: 99%

“…Grasping objects with adequate grasping force/s and safe manipulation of the grasped object is a major challenge in wider applications of robots for domestic and industrial purposes. A newly developed grasping and manipulation controller model [1] is a part of the research project that aims to develop a robotic object manipulator for reliable and safe object manipulation, while still maintaining a useful level of manipulation dexterity. A motion planning module is an inbuilt part of this manipulation controller.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Modeling of an Object Manipulation Motion Planner and Grasping Rules

Dzitac

Mazid

2013

AMM

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This paper presents the development of a Motion Planning Module for object manipulation, which is a part of previously developed robotic grasping and manipulation controller. The Motion Planning Module consists of a sensing processor, decision making module, instinctive controller, motion planner and a planned motion controller. Details related to the design and modelling of the motion planning module have been offered. Results of experiments on human grasping rule, suitable for the grasping and manipulation controller, have been discussed. The output of this research may be useful to those developing motion planning strategies for their grasping and manipulation controllers.

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Section: Manipulation Controller Architecturementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%