This paper presents the conditions for the global asymptotic stability of the hybrid position/force control of robot mani ulators using Liapunov's direct method.,&hough h brid control schemes have been studied in d p t h , the stability problem has not been clarified completely.We deal with the stability of the hybrid control scheme in Cartesian coordinates of the work space, especially from the view point of coupling between position and force control. Results show nor only the global asymptotic stability conditions but also the physical interpretation or meaning of the stability conditions by citing an example of a two degree of freedom manipulator.
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