Adaptive Prescribed-Time Force/Position Tracking Control for Flexible-Joint Robotic Manipulators

This paper presents an adaptive prescribed-time control strategy with prescribed-time trajectory tracking for force/position tracking of flexible-joint manipulators under unknown environmental stiffness. By decoupling the workspace into force/position subspaces and integrating prescribed-time convergence with adaptive stiffness estimation, high-precision time-varying force tracking is achieved. Simulations confirm its effectiveness and robustness in simultaneous force/position tracking within finite time.