It has been demonstrated through past research that point contact is required between the robot arm and an object for effective modelling and control of manipulation. In this work we investigate sufficient conditions in order that the end effector of the robot and the object have point contact. Both the end effector and the object are rigid surfaces described by smooth equations in the 3-dimensional space. The analysis is built on the basic knowledge of Differential Geometry and particularly on the concept of the principal curvatures of a surface.
Robots, Object Manipulation, Contact, Point Contact.
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