Force/position control of robot manipulator via motion dynamics

In this paper, we propose a new force/position control scheme for motion control of a rigid robot manipulator along a frictionless surface represented by an integral submanifold of some distribution. The described control scheme involves the exact cancellation of the nonlinear terms of the projected end effector dynamics in the position and force controlled directions. We introduce a new motion equation on the integral submanifold of a smooth distribution by using differential geometry. The feasibility of the proposed force control scheme is verified through a computer simulation