Adaptive hybrid position/force control of manipulator

The problem of the manipulators hybrid position/force control is not trivial because manipulators are objects with nonlinear and uncertain dynamics, unknown and variable parameters, and which operate in changeable conditions. Therefore the hybrid position/force control problem requires application of advanced control techniques for compensation of manipulator nonlinearities. The adaptive control system enables the manipulator to behave correctly, even if parameters of the mathematical model of the control object are unknown. In this paper, the hybrid position/force controller with an adaptive compensation of nonlinearities for the SCORBOT-ER 4pc robotic manipulator is presented. The control law and adaptive law presented herein guarantee practical stability of the closed-loop control system in the sense of Lyapunov. The results of a numerical simulation are presented.