Planning for manipulating a multiple contacted object by single-prismatic-jointed fingers

A manipulation of a multiple contacted object by a rotational base and single-jointed finger mechanism (RBSF mechanism) is discussed. The manipulation is characterized by multiple contacts on an object and large motions of the object with sliding contacts. The kinematics and dynamics allowing sliding at multiple contacts are explored. Manipulation planning of the RBSF mechanism, which cannot exert arbitrary contact forces because it has a fewer number of joints than is required for active control, is presented. The feasibility of manipulation is demonstrated by computer simulations and experiments.