Compliant Control of Robot Manipulators Incorporating Force Sensor and Constraint Models

The paper proposes a new robot control system which simultaneously tracks position and force commands along a constrained surface. The model of the constraints is incorporated into the control algorithm. This leads to a more robust controller than those developed previously. The paper presents a general model for constrained surfaces and the architecture for the feedback controller. If the constraints are modeled exactly, the controller is capable of tracking with zero steady state error.