Motion/Force Control of Robotic Manipulators

Abstract

A procedure for the design of a motion/force controller for a manipulator, the end-effector of which maintains a stiff contact with the environment, is presented. Based on the computed torque approach and on projections on the motion and force subspace, this procedure leads to decoupled controllers that are capable of ensuring a global stability and are applicable to stationary as well as to mobile contact surfaces.