Modeling of an object manipulation motion planner and grasping rules

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.