Control of Mechanical Systems with Constraints

Introduction; literature review; modelling manipulators as Hamiltonian systems - free Hamiltonian systems on manifolds, Hamiltonian systems with constraints; the control of constrained Hamiltonian systems - the control of the contact force, the control of compliant motion; the required torque input - special constraint function; general constraint functions; applications of the control laws to example models; stabilization of the constraint surface for the example models; simulation.