Position and Force Control of Multibody Systems by Feedback Linearization

Abstract

Abstract A unified formulation of the feedback linearization method to the hybrid position and force control of constrained multibody systems is developed. Similar to the feedback linearization of unconstrained systems, linear decoupled input-output channels for position and force control variables, which can be controlled separately, and a nonlinear nonobservable internal dynamics are obtained. Technical applications are robotic systems with multiple, interacting arms, multifingered grippers grasping an object, mechanisms with controlled motion, or walking machines.