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Laixi Zhang 1 , Jaspreet Singh Dhupia 2,*, Mingliang Wu 1 and Hua Huang 1 1 School of Mechanical & Electronical Engineering, Lanzhou University of Technology, Lanzhou 730050, China; laixi_zh@163.com (L.Z.); wml0757@163.com (M.W.); hh318872@126.com (H.H.) 2 Department of Mechanical Engineering, University of Auckland, Private Bag 92019, Auckland 1142, New Zealand * Correspondence: j.dhupia@auckland.ac.nz; Tel.: +64-9-9235915

A Robotic Drilling End-Effector and Its Sliding Mode Control for the Normal Adjustment