The Lie bracket condition as a test of stable, drift-free pseudoinverse trajectories

C. Klein and K. Kee (1989) showed numerically that pseudoinverse control, while generally being nonconservative, in some cases appears to give conservative results and described a numerical procedure for finding stable, drift-free trajectories. T. Shamir and Y. Yomdin (1988) discuss using the Lie bracket condition (LBC) as a test of the repeatability of redundant manipulator control. The present author examines the hypothesis that the above-mentioned stable trajectories, which are done numerically on a three-link, planar manipulator with relative joints, might be predicted by the LBC. He concludes that the stable trajectories are not contained in the LBC surfaces, but that their closeness suggests that the LBC is a useful analytical test for locating them