Dynamic feedback linearizing force/position control of robot manipulator without velocity measurement

Summary form only given. The problem of position and force control of robot manipulator on a constraint surface without velocity measurements is considered. For the design of controller, the knowledge of velocity dependent nonlinear functions in the model is not needed. A dynamic feedback control law is derived for the force/position control. The control torque is the output of a linear dynamic system driven by the end effector position and contact force tracking errors. Using singular perturbation theory, it is shown that the closed-loop system is exponentially stable and that the controller accomplishes asymptotic decoupling control of the output. Simulation results are presented to show that in the closed-loop system position and force control is accomplished in spite of the uncertain dynamics of robot manipulators.