Efficient adaptive hybrid control strategies for robots in constrained manipulation

The authors address the problem of adaptive hybrid controller design for constrained robots, with consideration of computational efficiency. Two efficient control schemes based on Lagrange-Euler and Newton-Euler dynamics formulations are presented. Detailed analyses of tracking properties of joint positions, velocities, and constrained forces are derived for both the Lagrange-Euler approach and the Newton-Euler approach. Although control laws in these two approaches are developed independently, a close connection between them is indicated, which suggests a possible bridge over different general adaptive approaches based on the two dynamics formulations