Force/moment constraints for robot compliant motions in the presence of uncertainties

It is shown that by properly choosing the commanded force/moment based on certain force/moment constraints, a compliant translation/rotation can be ensured in the presence of uncertainties if certain design constraints on the sensing, modeling and control uncertainties are satisfied. The term `design constraints´ is used because it is hoped that the constraints imposed on those system parameters can be transformed to constraints on certain intrinsic parameters of some concrete devices, such as the robot arm and the sensors involved. However, the analysis provided is limited to compliant translation on a planar surface and pure compliant rotation constrained by a point, a line or a planar surface