COMPOSITE ADAPTIVE-CONTROL OF CONSTRAINED ROBOTS

Force control is the main challenge in force/motion control of constra ined robots, This paper presents a composite adaptive controller to de al with the force error. The proposed controller is designed and analy zed in two steps. In the first step, the force error is shown to be as ymptotically proportional to the residual force, A force feedback sign al is introduced to reduce the force error. The second step presents a n analytical study on a composite adaptive controller with a focus on the convergence of the residual force. It is proven that the proposed adaptive controller is able to achieve zero tracking and force errors without the persistent excitations.