Sliding mode force and motion control and stabilization of elastic manipulator in the presence of uncertainties

We treat the question of position and force control of three-axis elastic robotic systems on a constraint surface in the presence of robot parameter and environmental constraint geometry uncertainties. A sliding mode control law is derived for the position and force trajectory control of manipulator. Instability of the zero dynamics is avoided by controlling a point which lies in the neighborhood of the actual end point position. The maneuver of the arm using the sliding mode controller causes elastic mode excitation. For point-to-point control on the constraint surface, a stabilizer is designed for the final capture of the terminal state and vibration suppression