A simulation system for coordinated manipulation

A special-purpose simulation system for constraint-based manipulation with robotic devices is described. This system is a computational tool for the study of task-directed programming of robotics. The architecture of the system is outlined, the module for controlling independent fingers cooperating for the task of part rotation is described in detail, and experiments are reported. This implementation contributes to a deeper understanding of the properties of algorithms for fine motion planning for dexterous manipulation.<>