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Simultaneous Force and Motion Control of Robot Manipulators in Generalized Coordinates

An arXiv paper proposes using Gauss's principle of least constraint to formulate simultaneous force and motion control of a robot manipulator as a quadratic programming (QP) problem in generalized coordinates (joint space), so that inequality constraints such as joint limits, collision avoidance, and singularity avoidance can be incorporated directly into the solution. Simulations were run in MuJoCo and compared with an operational-space (task-space) method; the results show that the method can simultaneously maintain the desired contact force, reduce trajectory tracking error, and satisfy the inequality constraints. The paper is 8 pages with 5 figures and has been submitted to IEEE ICRA 2027.

Part of the event: Proposes a method for simultaneous force and motion control in generalized coordinates

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