Nonlinear Control of Constrained Redundant Manipulators

The dynamic hybrid position and contact force control of open-chain manipulators with redundant degrees of freedom by means of exact input-output linearization is investigated. The dynamics of the manipulator is transferred into a decoupled linear dynamics in the subspace of the control variables and a still nonlinear dynamics in the subspace of the redundant degrees of freedom. By projecting artificial potential and damping forces into the subspace of the redundant degrees of freedom, it is possible e. g. to realize repeatable motions in the joint space for cyclic trajectories or to avoid collisions with obstacles in the workspace.