Optimal Grasp Planning for Cooperative Manipulators

An optimal grasp planning procedure for cooperative object manipulation by multiple arms, based on genetic algorithm and using Multiple Aspect Grasp (MAG) index is presented in this paper. The MAG index takes into account three main aspects of grasp planning such as, the position of contact points, the kinematic aspects of cooperative manipulators, and the kinetic aspects of manipulators and the manipulated object. This index is extended here for cooperative object manipulation tasks. Finally, the grasp quality for each grasp candidate point is specified for a predefined task. Simulation results reveal the merits of MAG index in grasp planning for cooperative object manipulation tasks.