An adaptive force and position controller based on force estimation

Force control is required in many industrial tasks. In this paper, a robot controller is proposed which controls both the position and the force that act on the end-effector. The external force is computed with a force/torque estimator, and this estimation is presented as an update law to improve the system's performance. A Lyapunov function is defined to show the stability of the system and that tracking errors goes to zero in some conditions. At last, the controller accomplished on a two link manipulator by simulation. Results show that the controller has a good performance.