A unified approach to stable adaptive force/position control of robot manipulators

In this paper, a unified approach to stable adaptive force/position control of robot manipulators is proposed, which is practically implementable credited to the utilization of the recursive formula of the robot regressor dynamics. The proposed approach is capable of estimating unknown dynamic parameters in real time as well as controlling both the position and contact force of the robot tip in a stable and unified manner. The proposed algorithm has been implemented on a PUMA 560 manipulator.