A new position/force control decomposition is suggested for the formulation of control strategies for constrained robot manipulation. Separate position and force controllers can be developed from the corresponding decoupled model for a single n- joint nonredundant manipulator or two cooperating robot arms. The position controllers can compensate for the associated uncertainty naturally present in the robot arm dynamics. This new control decomposition is utilized to research: 1) the advantages and disadvantages of different position/force decompositions, 2) the effects of surface uncertainty in conjunction with any manipulator dynamic uncertainty, 3) the advantages and disadvantages of different control schemes through computer simulation and experimentation, 4) the use of multiple sensors in conjunction with advanced position/force controllers, 5) the effects of actuator and sensor dynamics on position/force controller performance. If the above problems can be solved, the integration of robot manipulators into the manufacturing of automobiles, planes, surface-ships, spacecraft, appliances, etc, will become much easier.
