Motion Planning and Controlling Algorithm for Grasping and Manipulating Moving Objects in the Presence of Obstacles
Motion Planning and Controlling Algorithm for Grasping and Manipulating Moving Objects in the Presence of Obstacles Ali Chaabani1, Mohamed Sahbi Bellamine2 and Moncef Gasmi2 1University of Manar, Tunisia 2University of Carthage, Tunisia ABSTRACT Many of the robotic grasping researches have been focusing on stationary objects. And for dynamic moving objects, researchers have been using real time captured images to locate objects dynamically. However, this approach of controlling the grasping process is quite costly, implying a lot of resources and image processing.Therefore, it is indispensable to seek other method of simpler handling… In this paper, we are going to detail the requirements to manipulate a humanoid robot arm with 7 degree-of-freedom to grasp and handle any moving objects in the 3-D environment in presence or not of obstacles and without using the cameras. We use the OpenRAVE simulation environment, as well as, a robot arm instrumented with the Barrett hand. We also...