From: Modeling and control of planar slippage in object manipulation using robotic soft fingers
 | \(\dot{\mathbf {X}} \ne \mathbf {0}\) | \(\dot{\mathbf {X}} = \mathbf {0}\) | |
---|---|---|---|
Slippage | 1st Assumption: stationary | 2nd Assumption: incipient slip | |
\(\beta _1\) | 0 | 1 | 0 |
\(\beta _{21}\) | 1 | 0 | 1 |
\({{\varvec{\upbeta }}}_{22}\) | \(\mathbf {A}\) | \(\mathbf {0}_{3 \times 1}\) | \(\mathbf {C}\) |
Condition to be checked | – | \(B < 1\) | If 1st Assumption is not correct |