Adaptive force/motion control of constrained robot manipulators

Following the line of the dynamic hybrid control method given by McClamroch and Wang (1988), two reduced, unconstrained robot models, in which the constraints are satisfied automatically, are introduced. An exponentially stable control law for both position tracking errors and force tracking errors is presented based on Lyapunov stability theory. When there exist robot dynamics parameter uncertainties, an adaptive control is proposed based on the previous control structure. The control law ensures the asymptotical convergence of the position tracking errors and boundedness of the force tracking errors