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FORCE/POSITION SLIDING‐MODE CONTROL OF A ROBOT MANIPULATOR IN A NON‐RIGID ENVIRONMENT
Author(s) -
Chen YonPing,
Lu ZhenZhong
Publication year - 1999
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1111/j.1934-6093.1999.tb00013.x
Subject(s) - control theory (sociology) , sliding mode control , controller (irrigation) , position (finance) , contact force , stiffness , robot , engineering , mode (computer interface) , bounded function , control engineering , computer science , nonlinear system , structural engineering , control (management) , physics , artificial intelligence , mathematics , classical mechanics , mathematical analysis , finance , quantum mechanics , agronomy , economics , biology , operating system
This paper proposes a sliding‐mode force/position controller for a robot manipulator in contact with an isotropic and homogenous environment with upper‐bounded uncertain stiffness. The sliding‐mode controller design is based on a contact force model linear with the environment deformation. Measurement of the derivative of the contact force is not needed. The sliding vector is chosen on purpose to enable the system to initially be located in the sliding mode so as to avoid undesired transient behavior.