Abstract
The paper addresses a manipulation problem based on kinematic model where the equations of the motion of the system can change discontinuously depending on the actual state of the system. In this case, the configuration space is stratified. The stratified control theory using the smooth motion planning algorithm promises a powerful alternative for this manipulation problem, however, it meets also some significant difficulties. The paper presents the main steps of developing computational frame work and some improvements for stratified motion planning. The concept proposes a semi-stratified method which decomposes the manipulation problem into stratified motion planning and pure finger relocation through the special selection of the reference points. Because of the different type of computational tasks (symbolic, numerical), the realization steps are also investigated.
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