Constraint-combined force/position hybrid control method with Lyapunov stability

Based on the analysis of the interaction between a manipulator´s hand and a working object, a model representing the constrained dynamics of the robot is first discussed. In this paper, we design a new compensation of the system based on the constrained system and prove its convergence in a new way with Lyapunov method, in this way we focus on the motion of the manipulator because the output force is a function of the input torque directly which is not affected by time.