Universal Motion Controller: Adaptive Approach

The paper extends the concept of universal motion controller (UMC), by introducing an adaptive mechanism in the original form. The adaptive universal motion controller (AUMC) allows superior position tracking in free motion by allowing better utilization of available control resources. AUMC, as well as UMC, allows concurrent position and force control with a single control structure. Thus, it can be used for trajectory tracking in free motion and also for the interaction force control. This control strategy is of essential importance for the growing field of human-robot interaction (HRI) applications.