A novel robust trajectory/force controller is developed on the basis of a combination of sliding-mode and adaptive control techniques. exact knowledge of robot dynamics and environment sti ness is not required. The controller is constructed so as to track reference trajectories in the unconstrained directions and to regulate force at a desired value in the constrained directions. Changes in constraints are also taken into account in the design of the control law. The synthesis presented assumes

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... a non-redundant rigid manipulator and known location/geometry of the environment. Simulation and experimental results are also presented.