Shen, YueshiHueper, Knut2015-12-132015-12-13July 29 20078039044Xhttp://hdl.handle.net/1885/80557This paper presents a joint space formulation for robot manipulator's hybrid motion/force control. The motivations come from 1) extending the previous work to general (either constrained or redundant) robots; and 2) improving the robustness against disturbances originated at the joint level. Contact geometry and closed-loop dynamics will be derived in this paper, also a joint space hybrid control scheme will be proposed. At the end, we show some simulation results to verify the applicability of our theory on a constrained (4-degree-of-freedom) robot WAM.Keywords: Closed loop control systems; Computer simulation; Force control; Manipulators; Robots; Robustness (control systems); Closed-loop dynamics; Compliant motion control; Joint space; Projectors; Robot manipulators; Motion control Compliant motion control; Hybrid motion/force control; Joint space; Projector; Robot manipulator20052015-12-11