An adaptive hybrid control scheme for manipulation robots with implicit force control

Abstract

An adaptive hybrid position/force control scheme for manipulation robots in constrained motion tasks is considered in the paper. The proposed control scheme is based on implicit force control, although it includes an explicit force feedback loop too. The scheme includes a block for identification of contact force parameters, as well as a block for tuning of feedback gains according to the identified parameters. The scheme is briefly described and the simulation tests are presented.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>