Finite-time adaptive force control for rheonomically constrained manipulators

A finite-time adaptive force control scheme is designed for manipulators in the case of that the end-effectors are subjected to rheonomic constraints. There are three advantages of the proposed approach. (1) The finite-time convergence of force tracking error can be ensured. (2) The uncertainty of robotic parameters is solved by an adaptive control scheme. (3) Higher-precision motion tracking performance is achieved in comparison with the conventional approaches. The stability analysis and a numerical illustrative example both demonstrate that the proposed control scheme is effective.