Non-linear regression in R

Hi Guys,
First of all I would like to say I am glad to join and interact with
my fellow statisticians. Does anyone know how to do non-linear
regression in R with constraints? I know this is possible in SAS with
the BOUNDS option. I am trying to do it in R since I have no SAS access
now. I know that R does not have an inbuilt functionality for applying
constraints. However is there a way to force it to take constraints?
Thanks in advance
Harry

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