Adaptive force and position control of robot manipulator based on hyperstability

We propose a control algorithm which can be used to control force and position of an end-effector of a robot manipulator simultaneously. Contact force is assumed to occur only from the kinematics between the surface of the work piece and end tip of the end-effector. First, we derive the desired joint angle trajectories from the desired trajectory in base frame to which the virtual end tip must track for achieving the desired normal contact force Then we propose adaptive control based on hyperstability to make each joint converge to its desired joint angle trajectory. From computer simulation results, we can prove the validity of the proposed control algorithm