Adaptive compliant motion control of flexible-joint manipulators

This paper presents two adaptive schemes for compliant motion control of uncertain rigid-link flexible-joint manipulators: an adaptive impedance controller and an adaptive position/force controller. The proposed strategies are simple and computationally efficient, require little information concerning the manipulator, the actuator/transmission models, or the environment, and ensure uniform boundedness of all signals and arbitrarily accurate realisation of the given compliance control objectives