Robust position and force control of robots using sliding mode

Abstract

In this paper, two sliding mode based control schemes in joint space are developed for robust control of constrained robot motion in the presence of dynamic uncertainties. One of the proposed control schemes is developed by using two sliding surfaces; the other scheme is derived by employing only one sliding surface, Under the proposed control schemes, both position and contact force are simultaneously controlled. Computer simulation results are presented for illustration.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>