Title :
Sliding-mode motion/force control of constrained robots
Author :
Lian, Kuang-Yow ; Lin, Chia-Ru
Author_Institution :
Dept. of Electr. Eng., Chung Yuan Christian Univ., Chung Li, Taiwan
fDate :
8/1/1998 12:00:00 AM
Abstract :
A sliding-mode controller is proposed for the simultaneous position and force control of constrained robot manipulators with parametric uncertainties. Based on this controller, the trajectories of the closed-loop system can reach a stable sliding surface in finite time. Under this condition, the asymptotic convergence of the motion error and force error can be successfully ensured with improved results compared to previous studies
Keywords :
closed loop systems; convergence; force control; motion control; position control; robot dynamics; variable structure systems; asymptotic convergence; closed-loop system; constrained robots; dynamics; force control; motion control; motion error; parametric uncertainties; position control; sliding-mode control; Equations; Error correction; Force control; Manipulator dynamics; Motion control; Robot kinematics; Sliding mode control; Stability; Torque; Uncertainty;
Journal_Title :
Automatic Control, IEEE Transactions on
