Adaptive hybrid impedance control of robot manipulators with robustness against environment's uncertainties

It is evident that the environment takes an important part during implementation of impedance control of robot manipulators. Better results are expected if the impedance of the manipulator is configured according to the environment's dynamics. In this paper, a hybrid impedance controller is designed. With some robustness against the uncertainties of the environment, the approach is able to implement the desired contact force and, at the same time, track the commanded position in orthogonal subspace without knowing the accurate model of the environment. Furthermore, the control law is configured based on input-output relationship so that the adaptive law can be adopted, which results in asymptotic global stability even with parameter uncertainties of the manipulator.