General Antonyms:
* Enslave
* Subjugate
* Oppress
* Constrain
* Control
* Restrict
* Imprison
* Bond
* Subject
More Specific Antonyms:
* Suppress (related to freedom of expression)
* Disenfranchise (related to political rights)
* Dominate (related to power dynamics)
* Exploit (related to labor or resources)
The best antonym will depend on the specific context in which you are using the word "emancipate".