Abstract
A scheme for dynamic hybrid control of robot manipulators is presented. The design is directly achieved in task space coordinates. In this way, the inherent orthogonality between force and velocity description of tasks is preserved and overspecification is avoided in the control synthesis. A nonlinear decoupling and linearizing feedback law is obtained which yields invariant control performances over time-varying tasks. The effect of a robustifying integral action is discussed. Simulation results are reported for a two-link arm.
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