The paper presents an adaptive force controller to obtain the stable force response independently of the configuration of the redundant manipulator and the stiflness of the object. First, the joint acceleration controller is realized in the joint space. In the manipulator based on the joint acceleration controller, the motion controller in the workspace is constructed by only the consideration of the kinematics. This feature makes the effect of the configuration clear. I n the proposed method, this motion controller is expanded into the adaptive force controller. T h e n the least-squares estimator of the unknown parameters of the object is also introduced to realize the stable force controller.

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