Model-Based Adaptive Control for Geometrically Constrained Manipulators

Abstract

A new model-based adaptive control method for a class of robot manipulators whose end-point is moving in touch with a geometrically constraint surface is proposed. A contact force arises at the end-point of the manipulator. Therefore, the manipulator is controlled so as to track both the desired end-point trajectory given on the constraint surface and the desired contact force trajectory simultaneously.