Compliant control of constrained robot manipulators: stabilization on the constraint surface

As an extension to their formulation of the compliant control problem employing the framework of constrained Hamiltonian systems the authors consider the feedback of error signals with respect to a desired position, velocity and force. They allow for uncertainty in modeling and disturbances. They show that the nonlinear feedback controls introduced specify the dynamics of the manipulator on the constraint surface. Results of computer simulations which verify the analytical formulation , are presented