Adaptive trajectory/force control scheme for constrained robot manipulators

摘要

Abstract An adaptive control scheme for the trajectory/force tracking of robot manipulators is presented. Asymptotic stability of state variables and convergence of constraint forces to any prespecified set are proven. The design procedure avoids the restrictive solvability condition of the constraint equation in the whole space of robot co‐ordinates. A fairly accurate bound of the tracking error is derived by means of a Lyapunov analysis.