Whole arm grasping control for redundant robot manipulators

An approach to whole arm grasping of objects using redundant robot manipulators is presented. A kinematic control which facilitates the encoding of both the end-effector position, as well as body self-motion positioning information as a desired trajectory signal for the manipulator joints is developed. A joint space controller which provides asymptotic tracking of the encoded desired trajectory in the presence of system uncertainties is presented