A Lyapunov-Stable Adaptive Scheme for Force Regulation and Motion Control of Robot Manipulators

Abstract An adaptive force/position controller for robot manipulators in contact with a compliant surface is presented in this paper. The control law is designed in the task space and contains a nonlinear model-based term and a linear compensator action. This is obtained as a linear combination of the position error, the velocity error and the integral of the force error. The scheme is adaptive with respect to the dynamic parameters of the model of the robot manipulator. By using the classical Lyapunov method it is demonstrated that the proposed control law ensures tracking of the unconstrained components of the desired end-effector trajectory with regulation of the desired contact force along the constrained direction. Numerical case studies are developed for an industrial robot manipulator.

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