Adaptive impedance control of mechanical systems with classical nonholonomic constraints

In this paper, an adaptive impedance controller is presented for position/force control of mechanical systems subject to a set of classical nonholonomic constraints and with unknown dynamic model parameters. The controller is designed based on a reduced model and some properties of the dynamic model are exploited to facilitate the controller design. The controller guarantees that the motion tracking errors and force errors asymptotically converge to the desired manifold, and regulates the motion/force relationship to the desired impedance dynamics. Simulation studies show the effectiveness of the proposed method.