A configuration space friction cone

Provides a geometric representation of friction for a rigid planar part with two translational and one rotational degrees of freedom. The construction of a generalized friction cone is accomplished by imbedding into the part´s configuration space the constraints that define the classical friction cone in real space. The resulting representation provides a simple computational method for determining the possible motions of a part subjected to an applied force and torque. The representation has been used both for simulating part motions and for planning assembly operations. Generalizations to the six-dimensional configuration space of a three-dimensional part are possible