This paper presents a contact point placement and recon#?#figuration algorithm, which
is used in an experimental control system of an industrial robot equipped with a dextrous
hand. In the #?#first stage, the contact points are located on the surface of the
object. After the grasping, the object can be reconfigured. The purpose of the method
is to displace the object from the initial grasp con#?#figuration into a desired position
and orientation. The grasp planner takes into account the properties of the object,
e.g. frictional coefficient, parts of its surface that can be touched, and orientation
constraints. Furthermore, it considers the obstacles around the object with respect
to the position of the robot arm before grasping the object.
