DocumentCode
1409172
Title
Sliding-mode motion/force control of constrained robots
Author
Lian, Kuang-Yow ; Lin, Chia-Ru
Author_Institution
Dept. of Electr. Eng., Chung Yuan Christian Univ., Chung Li, Taiwan
Volume
43
Issue
8
fYear
1998
fDate
8/1/1998 12:00:00 AM
Firstpage
1101
Lastpage
1103
Abstract
A sliding-mode controller is proposed for the simultaneous position and force control of constrained robot manipulators with parametric uncertainties. Based on this controller, the trajectories of the closed-loop system can reach a stable sliding surface in finite time. Under this condition, the asymptotic convergence of the motion error and force error can be successfully ensured with improved results compared to previous studies
Keywords
closed loop systems; convergence; force control; motion control; position control; robot dynamics; variable structure systems; asymptotic convergence; closed-loop system; constrained robots; dynamics; force control; motion control; motion error; parametric uncertainties; position control; sliding-mode control; Equations; Error correction; Force control; Manipulator dynamics; Motion control; Robot kinematics; Sliding mode control; Stability; Torque; Uncertainty;
fLanguage
English
Journal_Title
Automatic Control, IEEE Transactions on
Publisher
ieee
ISSN
0018-9286
Type
jour
DOI
10.1109/9.704980
Filename
704980
Link To Document