Two Dimensional Dynamic Manipulation of a Disc Using Two Manipulators

In this paper, we analyze a dynamic object manipulation (DOM) problem; throwing upward and catching a disc using two planar manipulators. The manipulators control the disc xy position dynamically and use its angular movement as a free parameter. We use a simple model for the system. Each manipulator has three links and three active joints. In addition, the disc has considerable radius and mass. Therefore, we design a simple mechanism in the palm to damp a portion of the impact