Kinematic control of non-holonomic drift and its application to 3-D rolling manipulation-task gradient technique

This study deals with feedback control of system configuration drift resulting from the presence of the nonholonomic constraints, as compared to drift resulting from the kinematic redundancy of manipulators. The authors analyze the origins of this nonholonomic drift and formulate the problem to be solved to control it. They present an approach for globally optimal kinematic control of nonholonomic drift in robotic systems that is based on the utilization of task functions. The approach is applied to 3-D rolling manipulation systems to control nonholonomic drift of finger/object contact locations