Design of compliant motion controllers for kinematically redundant manipulators

Design of a compliant motion controller using a redundant manipulator is addressed in this article. Specifically, a hybrid controller and an impedance controller are extended to general redundant manipulators based on the kinematically and geometrically decoupled joint space decomposition. Geometrically decoupled task space decomposition provides a systematic ways of geometric modeling of general constraints. Both controllers have the advantage that the closed-loop dynamics of the manipulator are decomposed into position-controlled, force-controlled, and null motion-controlled subspaces, and each are linearized, reshaped to desired dynamics, and decoupled from the others. A simple numerical simulations prove the applicability of the proposed algorithms