Grasp Configuration Planning Based on Manipulation Task Accuracy

The present paper proposes a novel grasp configuration planning for a robotic hand to achieve a specified task with high manipulation accuracy against unknown disturbances. In precision tasks such as a peg-in-hole insertion or a manipulation with a tool, manipulation accuracy of the task coordinate on the grasped target is important. We verify that the effects of unknown disturbances on manipulation task accuracy depend upon the singular vectors and condition number of the manipulation system. It is shown that the manipulation task accuracy can be controlled by changing the grasp configuration appropriately. Then a grasp configuration planning method for precise grasp is proposed by using the above-mentioned measures. The usefulness of the proposed method is shown by simulations concerning a peg-in-hole insertion task.

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