Abstract: The defects of kinematics-based velocity motion control method and master-slave motion planning scheme of multifingered manipulation are highlighted, respectively, and it is illustrated that they are not coordinated motion planning methods. Then, by introducing constraints of optimal grasping configuration into finger motion generation process, a coordinated motion generation algorithm for multifingered manipulation is proposed. The algorithm generates the coordinated finger motions to keep the grasp in an optimal set when the initial grasp is optimal, or optimize the grasp in an optimal set when the initial grasp is optimal, or optimize the grasp by defining grasp quality measure during manipulation process, when the initial grasp is not optimal. Finally, several manipulation experiments to verify the proposed algorithm are presented.

Key words: Grasp quality measure, Motion planning, Multifingered manipulation