Compliant motion tasks for robot manipulators subject to joint velocity constraints

We develop non-smooth motion controllers that enable redundant manipulators to perform surface tasks, that involve force/torque interactions. The robot joint rates are constrained within given limits. The end-effector is stabilized to a point, on the surface, and then tracks a trajectory on the surface, while respecting the input constraints and avoiding obstacles, and the same time applying a specific force on it. We show that the resulting closed loop system is uniformly asymptotically stable, and we verify our analytical development with simulations on a redundant robotic manipulator model.