Specifying consistent control goals for kinematically defective manipulation systems

We focus on the problem of controlling a manipulator so as to trade a desired object trajectory, while guaranteeing that contact forces comply with contact constraints (friction bounds, etc.). When dealing with kinematically defective systems, it is not possible in general to assign arbitrary trajectories of object motions and contact forces. To understand what restrictions position and force reference trajectories should exhibit in order to be feasible by a given system, is the central issue of this work