Robust hybrid control of constrained robot manipulators via decomposed equations (Q1286810)

An essential step in hybrid control of constrained robots is the separation of position and force control directions. In this paper, without an explicit closed-form solution of the constraint equation in partition form, a set of two equations is derived for the stable and consistent hybrid control of a constrained robot. This set of two equations is derived from an orthogonal decomposition of the task space via the constraint Jacobian and by requiring the force controller to be orthogonal to the constraint manifold. The first equation is a dynamic equation free of a constraint force and it describes the motion of the robot on the constraint manifold. The second equation is a static equation relating the constraint force with the hybrid controller. A continuous version of the sliding-mode controller is employed to design a position controller. The force controller is designed as a proportional force error feedback of high gain type. The coordination of both controllers is shown to achieve ultimately bounded position and force tracking with tunable accuracy. A simulation example is given to show the effectiveness of a hybrid controller.