Adaptive Position/Force Control for Robot Manipulators Using Force and Velocity Observer

This paper presents an adaptive position/force control strategy and a velocity/force observer for three DOF robot manipulators APFC-VFO (Adaptive Position/Force Control-Velocity/Force Observer). The proposed control strategy based on the Slotine-Li adaptive control algorithm is designed to control the position and force of the end-effector robot interacting with the working environment. Moreover, the NGPI (New Generalized Proportional Integral) observer is established to estimate the velocity and force of robot manipulators. The advantages of the NGPI observer strongly reduce the oscillations of velocity and force under the effect of measurements noises. The observer convergence and control stability of the robot manipulator is proved in this paper. Finally, the simulation results are performed by Matlab Simulink software to validate the proposed control and observer.