Alan F. Lynch

Immersion & Invariance Adaptive Force-Motion Control for Robot Manipulator Contact Task *

This paper proposes an immersion and invariance (I&I) adaptive hybrid force-motion controller (IHFMC) for a two-degree-of-freedom (DoF) robot manipulator in contact with a rigid planar surface with unknown orientation. Based on the constrained dynamics, we present the classical hybrid force-motion control (HFMC) that d...