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.