Adaptive compliance control of electrically-driven manipulators

This paper presents two adaptive schemes for compliant motion control of uncertain rigid-link, electrically-driven manipulators. The first strategy is developed using an adaptive impedance control approach and is appropriate for tasks in which the dynamic character of the end-effector/environment interaction must be controlled, while the second scheme is an adaptive position/force controller and is useful for those applications that require independent control of end-effector position and contact force. The proposed controllers are very general and computationally efficient, and can be implemented with virtually no a priori information concerning the manipulator/actuator dynamic model or the environment. It is shown that the schemes ensure (semiglobal) uniform boundedness of all signals, and that the ultimate size of the system errors can be made arbitrarily small