FORCE/POSITION SLIDING‐MODE CONTROL OF A ROBOT MANIPULATOR IN A NON‐RIGID ENVIRONMENT

摘要

This paper proposes a sliding‐mode force/position controller for a robot manipulator in contact with an isotropic and homogenous environment with upper‐bounded uncertain stiffness. The sliding‐mode controller design is based on a contact force model linear with the environment deformation. Measurement of the derivative of the contact force is not needed. The sliding vector is chosen on purpose to enable the system to initially be located in the sliding mode so as to avoid undesired transient behavior.