A Riemannian-Geometry Approach for Modeling and Control of Dynamics of Object Manipulation under Constraints

Figure 5

Definition of the Riemannian ball $B(q^{*}\mathrm{,}\delta )$. Any orbit starting from $B(q^{*}\mathrm{,}\delta )$ converges to $\text{E}{\text{M}}_1\cap B(q^{*}\mathrm{,}\epsilon ).$