Adaptive robot contact planning and control

Adaptive control of robotic manipulators represents an approach to solving the problem of unknown robot parameters. This paper develops a new adaptive robot planner and controller, that relies on the desired end effector trajectory in the manipulator base coordinates, given by the constraint surface and some measured values on the manipulator´s end-effector to generate the desired trajectory in joint space of the robot. Once the parameters are estimated, they are used in the previously known Lyapunov based adaptive robot controller