Review and Unification of Reduced Order Force Control Methods

In this paper, we compare some of the recent methods developed for simultaneous position and force control of a single a-link constrained robot manipulator. Mathematical models of the constrained manipulator are introduced and the advantages and disadvantages of the associated control formulations are discussed. The similarities between each of the proposed formulations are also highlighted. Finally, a transformation is presented which generalizes the methods of decompling force from the position dynamics.