Stability and convergence analysis of robust adaptive force tracking impedance control of robot manipulators

A simple adaptive robust force tracking impedance control scheme that has the capability to track a specified desired force is proposed. The new impedance function is realized by the relationship between force error and velocity/acceleration error. The proposed control scheme uses the adaptive technique to compensate for uncertainties in environment location and stiffness. The robot dynamic model uncertainty is compensated by a robust position control algorithm based on time-delayed information. Simulation studies are shown to demonstrate the analysis of the stability and the convergence of the proposed scheme under uncertainties