Controling interactions in motion control systems

Design of motion control systems should take into account (a) unconstrained motion performed without interaction with environment or other systems, (b) constrained motion performed by certain functional interaction with environment or other system. Control in both cases can be formulated in terms of maintaining desired system configuration what makes essentially the same structure for common tasks: trajectory tracking, interaction force control, compliance control etc. It will be shown that the same design approach can be used for systems that maintain some functional relations like parallel robots.