Ll. Whitcomb et al., ADAPTIVE MODEL-BASED HYBRID CONTROL OF GEOMETRICALLY CONSTRAINED ROBOT ARMS, IEEE transactions on robotics and automation, 13(1), 1997, pp. 105-116
This paper reports comparative experiments with a new model-based adap
tive force control algorithm for robot arms. This controller provides
simultaneous position and force trajectory tracking of a robot arm who
se tool tip is in point contact with a smooth rigid surface, The algor
ithm is provably stable with respect to the commonly accepted rigid-bo
dy nonlinear dynamical model for robot arms. Comparative experiments s
how the new adaptive model-based controller to provide performance sup
erior to that of both nonmodel-based controllers and nonadaptive contr
ollers over a wide range of operating conditions.