The paper extends the concept of universal motion controller (UMC), by introducing an adaptive mechanism in the original form. The adaptive universal motion controller (AUMC) allows superior position tracking in free motion by allowing better utilization of available control resources. AUMC, as well as UMC, allows concurrent position and force control with a single control structure. Thus, it can be used for trajectory tracking in free motion and also for the interaction force control. This control strategy is of essential importance for the growing field of human-robot interaction (HRI) applications.

This paper presents unified force and position control based on sliding mode control (SMC) for a series elastic actuator (SEA). Compliant motion of robotic systems is crucial when dealing with unstructured environments as in the case of physical human-robot interaction. Therefore, not only traditional mechanical systems with stiff joints but also mechanically compliant systems such as SEAs have been actively studied. In order to accomplish versatile tasks, the strategy enabling both position control and force control is favorable. In this paper, the controller synthesizing position and force controllers on the basis of SMC for the control problem of SEAs is proposed by extending our previous work. Simulation results demonstrate the feasibility of the proposed method.

This paper presents a combination of two methods that can be effectively combined for control of electrical machines. The first method enables real-time identification of electrical and mechanical parameters based on differential geometry and geometric algebra. The second method enables robust control of electrical machines, even when the knowledge about parameters is incomplete. In combination, the two methods open a path for successful control of electrical machines with unknown and/or time varying parameters.

The paper discusses a control strategy that merges position and force control into a single control structure. The structure, denoted as the universal motion controller in our previous work, can be utilized to build a smart actuating system that runs a mechanical system with $n$ degrees of freedom. A smart actuating system has an integrated controller and it can be used in plug-and-play fashion for different trajectory tracking and force control tasks, defined either in configuration space, or in the task space. The only input of the actuating system is the attraction force in configuration space. Based on the attraction force, the smart actuating system is capable of imposing input forces to the mechanical system that will ensure execution of a specified task.

This paper presents a comprehensive treatment of the complex motion control systems in the the Sliding Mode Control (SMC) framework. The single and multi degrees of freedom (DOF) plants and applications to haptics and functionally related systems are discussed. The paper concentrates on presenting the designs that are easy to apply and tune. The proposed algorithms are based on the application of the equivalent control observer and the convergence term that guaranty stability of the closed loop in a Lyapunov sense and enforces the sliding mode on selected manifolds. Presented SMC design leads to a solution that easily could be modified to include majority of the algorithms presented in the literature.

This paper presents a comprehensive treatment of the complex motion control systems in the the Sliding Mode Control (SMC) framework. The single and multi degrees of freedom (DOF) plants and applications to haptics and functionally related systems are discussed. The paper concentrates on presenting the designs that are easy to apply and tune. The proposed algorithms are based on the application of the equivalent control observer and the convergence term that guaranty stability of the closed loop in a Lyapunov sense and enforces the sliding mode on selected manifolds. Presented SMC design leads to a solution that easily could be modified to include majority of the algorithms presented in the literature.

The paper presents a concept of universal motion controller. The controller merges both position and force control into a single control structure. Therefore, it gives a possibility to use the same control algorithm, both for position tracking tasks as well as for the interaction force control. The universal motion controller can be used not only to make the interaction force track its reference, but also for the limiting of the interaction force, so that safety is ensured. This makes it very useful for human-robot interaction applications.