Natural constraint
Natural constraint constraint that results from the particular mechanical and geometric characteristics of the task configuration. Used to define a particular situation occurring between the manipulator end-effector and the work environment. These constraints are defined in terms of linear and angular velocities and forces and/or torques that are specified to execute the task. Natural constraints are intrinsically associated with the particular task. For example, consider a task that an end-effector moves along a rigid surface and is not free to move through that surface. In this particular situation, a natural position constraint exists. In addition, if the surface is frictionless, the end-effector is not free to apply arbitrary force tangent to the surface, and hence a natural force constraint exists.
Source: http://ee.sharif.edu/~lcsl/useful/Electrical%20Engineering%20Dictionary.pdf
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Author of the text: Ed. P.A. Laplante Boca Raton: CRC Press LLC, 2000
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