The manipulation task (called object re-configuration problem) is stated as the following: given an initial grasp of the object find the motion's trajectories of the agents to move the object to the desired configuration. In general collision free paths for all agents must be ound toward the contact points on the object (pre-grasp configuration) and the grasping and manipulation forces should then be exerted on the object by the agents. These forces are determined first to ensure a stable grasp, then to manipulate the object. We present a model based motion planner algorithm for manipulating agents for object re-configuration using simulated annealing (SA) algorithm for generating the relative motion between the object and agents. The motion of the agents relative to the object can be pure sliding, pure rolling, breakin gcontact and agent relocation is allowed. The motion of the agents relative to the object can be pure silding, pure rolling, breaking contact and agent relocation is allowed. The motion sequence is represented by a relative velocity matrix. The algorithm can be used for example to move a known shaped object to a different position and orientation with a robotic hand. Simulation results are presented.
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