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In this paper we present a unified approach for the control of manipulator motions and active forces based on the operational space formulation. The end-effector dynamic model is used in the development of a control system in which the generalized operational space end-effector forces are selected as the command vector. This formulation provides a framework for natural and efficient integration of both end-effector force and motion control. A "generalized position and force specification matrix" is used for the specification of tasks that involve simultaneous motion and force operations. Flexibility in the force sensor, end-effector, and environment, and problems related to impact are discussed. The real-time operational space control system, COSMOS, has been recently implemented in the NYMPH multiprocessor system. Results of experiments involving contact and force step input response are presented.
Khatib et al. (Wed,) studied this question.