Abstract
There are some researches which perform complex manipulation tasks with low degree-of-freedom manipulator by sliding, rolling, releasing, etc. They are called dynamic manipulation. In this paper, tossing manipulation is introduced as one of dynamic manipulation. A 1 degree-of-freedom manipulator swings its arm to roll/slide an object on it, and then tosses it to locate to goal position. This paper shows an analysis and a simulation of kinematic model of tossing manipulation. Performance indices are implemented to solve inverse problem, and they enable to manipulate an object variously. Finally some experiments and their consideration are discussed.
