Abstract
We propose a novel complementarity model for a general three-dimensional manipulation system with the transitions of contact modes (rolling, sliding and breaking contact points) to solve the forward dynamics problem. The key idea is to construct a dynamic model with contact dynamics and to derive complementary constraints for a rolling contact by decomposing the tangential properties. We also present the Existence and uniqueness of a solution to the model, and propose algorithms for solving the problem. We show examples of computer simulation for dynamics of multi-fingered hand manipulation and discuss how the transition of contact modes varies according to the magnitudes of the friction coefficient and the applied joint driving torques.
