The authors present a hybrid controller that allows simultaneous force tracking in constrained directions and position tracking in unconstrained directions. The controller is an extension of a well-known adaptive position control scheme that exhibits remarkable performance in joint space. The hybrid controller is obtained by adding a commonly used force controller to the Cartesian space version of the adaptive position tracking controller. Analysis and simulation are used to evaluate the hybrid controller's ability to execute trajectories using force and position feedback. The application robot is a four-degree-of-freedom SCARA.
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