Experimental Studies on Hybrid Force Control With Sliding Mode Configuration for a Robot Manipulator

Abstract

This paper presents experimental studies of sliding mode control techniques applied to a robot manipulator to provide hybrid force control. Hybrid force control uses a selection matrix to decouple the position and force-controlled axes. Decoupling axes improve the control performance. Sliding mode controllers are developed in separate axes to compensate for nonlinear uncertainty in the robot manipulator. Experimental studies on sliding mode control for hybrid force control of a robot manipulator were conducted to demonstrate the force tracking performance.