Abstract: Based on the geometrical properties of the constrained system in configuration space, the motion and the constraining forces of robot system are studied. With the introduction of tangent space and normal space, the controls of motion and forces of robot are decoupled and the control system is simplified. Taking dynamic hybrid position / force control of a dual-arm system as an example, the simulation results show that the method proposed in this paper is simple and feasible, and facilitates the understanding of the nature of dynamic hybrid position / force control of constrained robot system.

Key words: dynamic hybrid control, constrained system, dynamics, robot system