Adaptive Jacobian Force/Position Tracking Control of Robotic Manipulators in Compliant Contact with an Uncertain Surface

Most research so far on force/position tracking control of robots has assumed that the kinematics and dynamics are exactly known. In this work, we deal with force/position tracking under uncertainties arising from robot kinematics, dynamics, surface stiffness and position with an emphasis on uncertain kinematics. A robot with uncertain kinematics and dynamics in contact with a compliant surface is considered. A new adaptive Jacobian controller has been designed to cope with the uncertain robot kinematics, dynamics, environmental stiffness and position. It is shown that the controller can achieve force and position tracking via Lyapunov stability analysis. Simulation results demonstrate the performance of the controller.