Reduced state motion/force tracking controller for constrained robots

The paper presents a development of a reduced space motion/force tracking controller for robotic systems, for which dynamic control models were obtained with the aid of the generalized program motion equations, which are equations of constrained systems in a reduced state form. If one wants to control constraint reaction forces, they should be retrieved to the control dynamic model for control purposes. Specifically, we design a controller based on a reduced space position/force controllers that enables motion/force tracking for some class of tasks robots can perform.