Asymptotic robust constrained robot motion control

This paper presents a solution based on robust control approach for asymptotic position/force control of constrained robots with parametric uncertainty. Important practical feature is that position, velocity, acceleration and force errors converge to zero without requiring measurements or estimates of acceleration and force derivative. In this control scheme, a variable structure controller combined with a PI controller is used to guarantee the convergence of position and force errors without control chattering. Compared with adaptive position/force controllers in the literature, the proposed robust controller is less sensitive to force measurement noise