Adaptive position/force control of robot manipulators without velocity measurements: theory and experimentation


In this paper, we design an adaptive position/force controller for robot manipulators during constrained motion. The proposed controller can compensate for parametric uncertainty while only requiring measurements of link position and end-effector force. A filtering technique is utilized to produce a pseudo-velocity error signal and thus, eliminate the need… (More)
DOI: 10.1109/3477.623233


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