Abstract
For application of robot manipulators to complex tasks, it is often necessary to control not only the position of a manipulator but also the force exerted by the hand on an object. For this purpose, Raibert and Craig have proposed the hybrid position/force control method. In this paper, we propose dynamic hybrid control method which takes the manipulator dynamics into consideration. Constraints on the hand are described by a set of constraint hypersurfaces. Then the basic equations for dynamic hybrid control are derived. Finally, a basic structure of the dynamic hybrid control system with servo compensator is given.
