Trajectory/force control for robotic manipulators using sliding-mode and adaptive control

Abstract

Presents a robust trajectory/force controller for non-redundant rigid manipulators designed using sliding-mode and adaptive control techniques. Sliding-mode control is used to take care of the uncertain robot dynamics, whereas adaptive control is used to estimate the unknown environment stiffness. Experimental results show that trajectory tracking and force regulation are achieved with bounded errors. The paper assumes known location and geometry of the environment.