The authors address the problem of adaptive hybrid controller design for constrained robots, with consideration of computational efficiency. Two efficient control schemes based on Lagrange-Euler and Newton-Euler dynamics formulations are presented. Detailed analyses of tracking properties of joint positions, velocities, and constrained forces are derived for both the Lagrange-Euler approach and the Newton-Euler approach. Although control laws in these two approaches are developed independently, a close connection between them is indicated, which suggests a possible bridge over different general adaptive approaches based on the two dynamics formulations.
展开▼
