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 far 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 for link velocity measurements. The control strategy provides semiglobal asymptotic tracking performance for the end-effector position and the interaction force between the constraint and the end-effector. An experimental implementation of the proposed controller on a two-link planar robot is also presented.