A systematic derivation of on-line motion constraint identification equations for model-based compliant motions

The authors derive a theoretical framework, based on the feature frame formalism, in which the tracking equations for any general motion constraint configuration are derived in a systematic way. The resulting equations are compared to previous research, which applied intuitively derived tracking equations to simple constrained motion tasks. Their applicability to complex tasks is shown. The authors describe the elements of a kinestatic model for ideal motion constraints, and introduce one possible representation: The Jacobian, or virtual manipulator representation. The modeling of uncertainties and their influence on the Jacobian representation are discussed. Observation and identification are considered. The enhanced observation and identification potential of the feature frame formalism with respect to the task frame formalism is discussed