Adaptive position/force control of robot manipulators without velocity measurements

Abstract

In this paper, we present an adaptive partial state feedback position/force controller for rigid-link robot manipulators under constrained motion. The proposed controller can compensate for parametric uncertainty while only requiring measurements of link position and end-effector force. The control strategy provides semi-global asymptotic tracking performance for the position of the end-effector and the interaction force between the constraint and the end-effector.