Specifying consistent control goals for kinematically defective manipulation systems

In thzs paper, we focus on the problem of controllang a manzpulator so as to track a desired object trajectory, whzle guaranteeang that contact forces comply wath contact constraants (frzctzon bounds, etc ). When dealing wath kznematzcally defectawe systems, zt as not possable an general to asszgn arbatmry trajectoraes of ob.fect motaons and contact forces. To understand what restrzctaons posztzon and force reference trajectories should exhibzt rn order to be feasable by a gauen system, zs the central zssue of thzs work Figure 1: A two-fingered 2 d.0.f. gripper with curling fingers grasping an object.