Adaptive hybrid control strategies for constrained robots

The problem of adaptive hybrid controller design for constrained roots with the consideration of computational efficiency is addressed. Two efficient control schemes based, respectively, on Lagrange and Newton-Euler dynamics formulation are presented. Detailed analyses on tracking properties of joint positions, velocities, and constrained forces are derived for both the Lagrange approach and the Newton-Euler approach. Although control laws in these two approaches are developed independently, a tight connection between them is found, indicating a possible bridge between general adaptive approaches based, respectively, on the two dynamics formulations