Abstract:In applications where robot manipulators are in contact with the environment, better known as constrained-motion applications, it is necessary to have a control algorithm that guarantees a suitable interaction between the robot and its environment. The main interaction control schemes in taskspace require accurate knowledge of the dynamics of the system to be controlled; then, if the parameters of the environment and the robotic system are unknown, it is essential to use adaptive control schemes. This paper pr… Show more
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