Position control and explicit force control of a constrained manipulator

The kinematically constrained dynamic system of a robotic manipulator is modeled by including constrained forces in the dynamic equations in this paper, and the constrained forces are expressed as an obvious function of the state and inputs of the system. A controller without involving any force sensor is therefore constructed by taking the advantage of the redundancy between the input and constrained forces. Simulations have been done with a 2-link SCARA manipulator, and the results show the feasibility of the modeling method and the controller