On the hard contact adaptive force control of a manipulator

A formulation of the force acting at the center-point of the end-effector of a manipulator based on a free-body diagram is described. With this formulation, the information about uncertainties at the contact point can be obtained by the force sensor. Therefore, the hard contact adaptive force control is formulated and solved by modifying the end-effector´s trajectory and the acting proper force/torque in the joint space. A force control scheme to compensate for an external force and exert a desired force is presented.<>