Kinematical and dynamical control of robotic manipulators

The problem of kinematical and dynamical control for robots is discussed. The goal of kinematical control is to steer the trajectory of the robot in free space, as it is presently done for industrial robots. The dynamical control intends to regulate the interaction forces between the robot and its environment. Generally this is not done for industrial robots. The controller proposed here allows for simultaneous kinematical and dynamical control. This means that the robot can work in all situations, from free space to constrained space, including situations such as soft or deformable contact or moving obstacles. The passage from one situation to another one such as setting in contact is also studied. The controller is based on the principle of control under constraints. Two parallel trajectory generators, one kinematical and the other dynamical, are connected to a strategic module that allows coherence for both trajectories