Modelling the manipulation of rigid objects as a singular system

Abstract

A singular system model of manipulation of rigid objects is presented. It is suggested that this is the proper formulation of the problem. The use of singular systems in robotic studies is a recent development. Its application thus far has been limited to the frictionless contour-following problem. A review of related studies is given. Some control issues related to this problem are discussed.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>