A unified dynamic model and control synthesis for robotic manipulators with geometric end-effector constraints

Abstract

A compact dynamic model and a hybrid position/force controller for a constrained robot manipulator, subject to a set of holonomic (integrable) constraints have been developed in this study. The joint-space dynamics (DAEs) has been transformed into the constraint-space model in which the system dynamics can be readily decomposed into two orthogonal subsystems; the motion-controlled subsystem is specified in the direction tangential to the known constraint surfaces, and the force-controlled subsystem is regulated in the orthogonal direction. Also utilizing the transformed dynamics, we have presented a hybrid adaptive control law to simultaneously manipulate the end-effector position and the contact force. Further, by a Lyapunov theory, it has been shown that the corresponding closed-loop system is globally stable under the parametric uncertainties.