Adaptive Jacobian force/position tracking of free-floating manipulators in compliant contact with uncertain environment

The problem of force/position tracking of a free-floating manipulator with kinematic and dynamic uncertainties is solved in this paper. The free-floating manipulator is in contact with a compliant surface with uncertain stiffness and position. To deal with all the above uncertainties in the free-floating mode, a passivity-based adaptive controller is designed via online estimates of the unknown parameters. The convergence of force and position error is proved with Lyapunov stability analysis. Simulation results illustrate effectiveness of the proposed algorithm.