Consideration of velocity terms in finger-arm coordination motion planning

This paper introduces a method of planning the coordination of the robot fingers and an arm in consideration of velocity terras when performing work which can be expressed as a sequence of continuous changes in positioning points of robot finger tips. The search procedure for planning is divided into two steps. One is the determination of task allocation to the fingers and arm. The other is the determination of the introduction point of the finger-arm coordination motions. As a first step, evaluation is performed only by moving the distance to decrease the calculation time. As a second step, evaluation function includes the number of processable work points and the rate of finger-arm coordination motions. This method was tested on the piano plying work using multiple degrees of freedom anthropomorphic robot. As a result, a path including smooth finger-arm coordination motions without high speed movements could be created automatically.