Kinematics of object sliding task by position-controlled manipulator with free-joint structure

In this paper, we analyze kinematics of environment-contacting task by position-controlled manipulator with free-joint structure. By consideration not only geometric analysis, but also kinematics analysis, conditions to achieve desired manipulation against friction and lost of contact are determined. We analyze object-sliding task as an example and obtain the conditions. We develop a 2-DOF free joint mechanism with potentiometer and electromagnet break at each joint and have experimented sliding task and insertion task.