Control of robot manipulators with constrained motion

摘要

A hybrid control scheme for robot manipulators under constrained motion is proposed. The control law provides simultaneous position and force control for the manipulator in orthogonal directions. It is shown how the scheme will work for manipulators constrained to follow some rigid, frictionless constraint surface.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>