Feedback Stabilization and Tracking of Constrained Robots

Mathematical models for constrained robot dynamics, incorporating the effects of contact forces required to maintain satisfaction of the constraints, are used to develop explicit conditions for stabilization and tracking using feedback. The control structure allows feedback of displacements, velocities and the contact forces. Global conditions for tracking based on a modified computed torque controller are presented. These conditions provide a guarantee that the closed loop controlled robot is stable when performing tasks defined by the specified constraints.