Abstract
In this paper, an optimal grasp planning for cooperative object manipulation, based on Genetic Algorithm (GA) and MATLAB optimization toolbox and using the MAG performance index is presented. The MAG index, which has been designed for object manipulation tasks, takes into account three major aspects of grasp planning such as, the position of grasping points, the kinematic aspects of cooperative manipulators, and the kinetic aspects of manipulators and the manipulated object. These numerical methods would be used to find the best grasping point of the symmetrical and unsymmetrical objects which are manipulated in a predefined path. Also, these methods would be compared with each other in speed. The results show that in the tasks that speed is the key factor; MATLAB optimization toolbox is preferred to GA.
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