An adaptive force control of redundant manipulator based on joint acceleration controller

The authors present an adaptive force controller to obtain the stable force response independently of the configuration of the redundant manipulator and the stiffness of the object. First, the joint acceleration controller is realized in the joint space. In the manipulator based on the joint acceleration controller, the motion controller in the workspace is constructed by only the consideration of the kinematics. This feature makes the effect of the configuration clear. In the proposed method, the motion controller is expanded into the adaptive force controller. Then the least-squares estimator of the unknown parameters of the object is also introduced to realize the stable force controller