Motion-data driven grasp/assembly planner

Abstract

This paper proposes a robotic grasp/assembly planner using a database of complex and skillful motion. In our proposed planner, if a skillful motion is included in the solution path, motion data included in the database is used. In this paper, we first explain the three-layered structure of the motion data. Then, we explain the proposed grasp/assembly planner. Finally, we show a numerical example to confirm the effectiveness of our proposed method.