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The force controller is composed of an adaptive PID feedback controller, an auxiliary signal, and a force feedforward term, and achieves tracking of desired force setpoints in the constraint directions. The position controller consists of adaptive feedback and feedforward controllers as well as an auxiliary signal, and accomplishes tracking of desired position trajectories in the free directions. The controllers are capable of compensating for dynamic cross\u2010couplings that exist between the position and force control loops in the hybrid control architecture. The adaptive controllers do not require knowledge of the complex dynamic model or parameter values of the manipulator or the environment. The proposed control schemes are computationally fast and suitable for implementation in online control with high sampling rates. The methods are applied to a two\u2010link manipulator for simultaneous force and position control. Simulation results confirm that the adaptive controllers perform remarkably well under different conditions.<\/jats:p>","DOI":"10.1002\/rob.4620040406","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T06:12:04Z","timestamp":1183702324000},"page":"551-578","source":"Crossref","is-referenced-by-count":27,"title":["Adaptive force and position control of manipulators"],"prefix":"10.1002","volume":"4","author":[{"given":"H.","family":"Seraji","sequence":"first","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"crossref","unstructured":"D. E.Whitney \u201cHistorical Perspective and State of the Art in Robot Force Control \u201d Proc. IEEE Intern. Conf. on Robotics and Automation St. Louis MO 1985 pp.262\u2013268.","DOI":"10.1109\/ROBOT.1985.1087266"},{"key":"e_1_2_1_3_2","unstructured":"R. P.PaulandB.Shimano \u201cCompliance and Control \u201d Proc. Joint Aut. 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