Adaptive sliding mode control of manipulator tracking an unknown surface

Concerns the problems of trajectory/force control for constrained manipulators. Several adaptive control schemes have been adopted for constrained manipulators tracking known surface. However, exact knowledge about constrained surface is not always available that causes the necessity to study the problem of robot tracking on unknown surface. Under the assumption of perfect knowledge of robot parameters the problem was considered by Bay and Hemami (1990). In this paper we extend an adaptive trajectory/force control scheme to the case where both manipulator parameters and constrained surface are unknown. The assumptions on the constrained surface introduced in our paper are rather generalized and not restrictive