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The role of robots is getting important in engineering. Industrial robots have gained a very wide popularity as essential components for the realization of automated manufacturing systems. Lots jobs assigned to robot demand a dynamic interaction , so called constrained motion, with the environment. To effectively operate a robotic manipulator, the interacting force between the robot and the environment should be accommodated rather than rejected. A robust force/position controller of a robotics manipulator without estimating the environment stiffness is proposed in this thesis. The constrained behavior has been analyzed to make some suitable assumptions of environment model and contact conditions. The presented control scheme without reaching phase is able to achieve excellent position and force with unknown environment stiffness. This controller is laconic and easy to implement. Simulation results are included to demonstrate the success of the proposed controller.
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