5 Grasping As soon as the position of the object is known, its 3-d coordinates and orientation, calculated by a Hough transformation, are transmitted to the manipulator control to initiate the grasping process. The generation of the grasping trajectory is a complex problem since CORA’s manipulator has seven degrees of freedom like the human arm. As only six degrees of freedom are needed to specify the position and orientation of the end-effector, the additional joint angle introduces a redundancy into the kinematic problem.