A joint space formulation for compliant motion control of robot manipulators

This paper presents a joint space formulation for robot manipulator´s hybrid motion/force control. The motivations come from 1) extending the previous work to general (either constrained or redundant) robots; and 2) improving the robustness against disturbances originated at the joint level. Contact geometry and closed-loop dynamics are derived in this paper, also a joint space hybrid control scheme is proposed. At the end, we show some simulation results to verify the applicability of our theory on a constrained (4-degree-of-freedom) robot WAM.