Unconstrained dynamic planar manipulation with one joint manipulator

Abstract

This paper explores the unconstrained dynamic manipulation for parts on a plane using a one joint manipulator. The goal of dynamic manipulation is to pose an object from an initial to a desired goal configuration on a frictional supporting surface. The overall manipulation process is decomposed into two conjunct phases, namely, acceleration of the object and free sliding of the object. We study the acceleration of an object with a one joint manipulator, and develop a planning method by solving a free boundary value problem in this paper. Experimental results are presented to demonstrate the proposed manipulation approach.