Adaptive Force/Position Control for Robotic Manipulators

D. Nganga-Kouya, M. Saad, L. Lamarche, and A.F. Okou (Canada)


Backstepping, passivity, force, position, adaptive, control.


This paper studies the force/position trajectory-tracking problem to control the nonlinear dynamic model of a robot using the (SFB) “strict-feedback backstepping” technique, based on passivity and applied to a robotic system. The advantage of the implemented control algorithm is that it imposes desired stability properties by fixing where by calculation respectively the storage, output, stabilizing and Lyapunov candidate functions of the system. The parameters estimation for the design is made by the direct adaptive technique. The control law which is valid for various types of robotic architectures is very satisfactory when applied to a 4 d.o.f robot, consisting of one prismatic axis (axis 1), and three others rotary axes. The performance of the controller is illustrated by simulation results showing the tracking of desired position and force trajectory. The trajectory and force tracking errors are negligible. The global stability of the system is also ensured.

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