: Stokic, D.; Vukobratic, M.; Surdilovic, D.

Abstract
An adaptive hybrid position/force control scheme for manipulation robots in constrained motion tasks is considered in the paper. The proposed control scheme is based at implicit force control, although it includes explict force feedback loop, too. The scheme includes the block for identifaction of contact force parameters, as well block for tuning of feedback gains according to the identified parameters. The scheme is briefly described and the simulation tests are presented.