Abstract - A new approach to the kinematic analysis of object motion
constrained by mechanical contacts is presented. The constraints by
mechanical contacts are generally described by a set of linear
inequalities. In task planning, it is often necessary for the planner
to treat the inequalities. Thus, we develop an efficient mathematical
tool based on the theory of polyhedral convex cones in order to treat
the inequalities in a simple and systematic manner. We apply the
method to the planning of hybrid position/force control.