Compliant control of constrained robot manipulators: a mathematical formulation and control expressions

The authors formulate the compliant control problem mathematically, using the framework of constrained Hamiltonian systems. They then derive nonlinear control expressions for the force and the motion on the constraint surface. The derivations reveal conditions that define the class of constraint surfaces allowable in the formulations. Two examples are given to illustrate the formulation and the methodology.<<ETX>>

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