Dynamic state feedback control of constrained robot manipulators

The problem of simultaneous motion and force control of a constrained robot manipulator is studied. It is recognized that the degrees of freedom of the manipulator are reduced in the presence of constraints. A dynamic model suitable for motion and force control is derived. Both motion and force control loops are exactly linearized and decoupled by using a dynamic nonlinear state feedback and a nonlinear state transformation. Separate inputs are designated for control of the end effector motion and the constraint force. The system stability, in particular the force control stability, is theoretically analyzed. The application of the proposed control method to redundant manipulators is discussed