Preprint Open access
Post-Grasp Kinematic Repair for Robotic Insertion via Object-in-Gripper Reorientation
A stable grasp does not guarantee kinematically feasible robotic insertion because the object-in-gripper transform may force the robot towards singularities or joint limits along the prescribed insertion path. We study post-grasp kinematic feasibility repair through object-in-gripper reorientation. Given an achieved gr …