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Adaptive motion and force control of manipulators in constrained motion in the presence of parametric uncertainties both in the robot and contact surfaces is solved in this paper. A new constrained dynamic model is obtained to account for the effect of contact surface friction. An adaptive law is suggested with unknown parameters updated by both motion and force tracking errors to guarantee asymptotic...
A general target model is proposed in the task space to represent motion trajectory, interaction force trajectory, and second-order function relating the motion errors and the interaction force errors. Using variable structure model reaching control (VSMRC) strategy, the model is achieved in the sliding mode with robust performance. Prescribed quality is also guaranteed in the reaching transient....
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