A Study on the Manipulation of a Rigid Body
under Uni-lateral Constraint
Abstract - A new approach to the static analysis of a rigid body under
uni-lateral constraints using convex polyhedral cones is presented.
Geometrically admissible displacements are described by a union of
convex polyhedral cones. Admissible force, which are defined to be the
forces that balance with constraint forces, are given by the dual
convex cone of the admissible displacement set. The theory is applied
to the assembly planning problem.