Robust stiffness control for constrained robots under model uncertainties

In this paper, we present an improved proof of global asymptotic stability of constrained robotic systems under model uncertainties. The control objective is to make the robotic manipulator's end effector to track the reference trajectories in the task space. The proposed approach is an enough straightforward method without force and position control separation. It's based on the Lyapunov Hamiltonian method and the stiffness control strategy. The robustness of the suggested robust controller is proved via simulation results.