Coordinated compliant motion of two robotic devices, i.e., a manipulator-positioner system, can introduce greater flexibility and dexterity into manufacturing and improve the productivity of their processes . This paper addresses the coordinated compliant motion control of a manipulator-positioner system without using a geometric model of a workpiece. Dynamics and control of manipulators under time-dependent holonomic constraints are studied by formulating coordinated compliant motion of

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... ator-positioner systems as constrained motion of a manipu lator under geometric end-effector constraints imposed by a positioner . A virtual constraint plane is introduced to prescribe a desired position trajectory of an end-effector of a manipulator. A compliant motion control scheme without using a geometric model of a workpiece is realized by fusing the measurements of the articular displacements and velocities of a manipulator and a positioner and the constraint force of an end-effector of a manipulator . A numerical simulation and an experiment for coordinated contour-following tasks are conducted to demonstrate the feasibility of the proposed compliant motion control scheme without using a workpiece geometric model .