Abstract
In this paper, we propose grasp planning of manipulator with parallel gripper in obstacle environment. We consider collision avoidance as a problem of motion planning in obstacle environment. However redundant degree of freedom is required to avoid obstacle and to grasp. In proposal plan, we observe that redundant degree of freedom that grasp pose has. Using DOF of grasping work, it can avoid obstacle and grasp target object without redundant manipulator. Constructed symple algorithm, proposal plan has a benefit for system integration.
