The aim of this paper is to study the force/position regulation problem of robot manipulators using the well-known parallel control approach. An alternate proof of previous results is presented to show that the robot system is closed-loop stable when the gravitational effects are not exactly compensated and that the desired force can always be reached. A systematic procedure of control synthesis is presented and stability conditions for the control parameters are derived. The used approach also shows that the original algorithm can be simplified, even in the case when no velocity measurements are available. The performance of the proposed controller is verified through an experimental application.
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