Kinematics analysis of manipulation of environment-contacting object with free-joint-structure

In this paper, we show analysis of kinematics of environment-contact task by position-controlled manipulator with free-joint structure at its wrist. Some friction forces at contact points and a force acted by a manipulator cannot be determined. So it is very complex problem to analyze the kinematics of such tasks. Including this uncertainties of acting forces, we have introduced conditions whether the position-controlled manipulator may occur excessive contact force at its contact with environment, whether a desired manipulation can be achieved or not. In 2D manipulation model, we can analyze manipulation possibility for required tasks. In this report, we develop a new method to analyze these conditions with linear programming method. With this method, we can easily judge conditions whether an environment-contact task is able to be achieved or not. We show some examples of analysis of this manipulation possibility.