This paper presents a model-based adaptive control in task coordinates for robotic manipulators executing multilateral constrained tasks. The controller works based on the concept of orthogonality between force and motion in the subspaces derived from the constraints. The control gains are independently adjustable in each subspace. The friction force, depending on the contact force, is compensated adaptively. Asymptotic convergence for both force and motion tracking errors is guaranteed by the Lyapunov-Like Lemma. Experimental results obtained using a 3 D.O.F. robot are given.
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