Computational algorithms for adaptive compliant motion

The authors explore performance issues linked to the effective implementation of adaptive manipulator controllers. In particular, they discuss computational implementations of the algorithm directly in Cartesian space, the utilization of kinematic redundancies, and applications to adaptive compliant motion control. The development is illustrated experimentally on a four-degree-of-freedom whole-arm articulated manipulator. It is suggested that the range of application of adaptive tracking controllers may extend well beyond adaptation to grasped loads