Abstract:For a grasping task planner, the pre-planning of the reachable tip pose in a manipulator’s workspace is important. On this basis, for a seven-degree-of-freedom (7-DOF) redundant manipulator, it is very meaningful to study how to give full play to its redundant characteristics to achieve more dexterous grasping. In this paper, through the improved shape primitive method, the reachability spheres of the 7-DOF manipulator studied were more accurately captured, and a more accurate reachability capability map was g… Show more
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