- 作者: Yon-Ping Chen ; Jeang-Lin Chang
- 中文摘要: This paper presents robust motion and force control of a robotic manipulator to deal with system and environment uncertainties using the sliding mode approach. The dynamic model is modified to contain two sets of state variables, where one describes the constrain motion and the other describes the unconstrained motion. This force control scheme is a position-based sliding mode technique and consists of two feedback loops. A simple force compensator in the outer loop modifies the end-effector position based on the sensed contact force and the desired force. A sliding mode controller in the inner loop produces the joint torque required to track the modified trajectory. This algorithm is able to achieve excellent position and force with unknown environmental stiffness. Simulation results are included to demonstrate the success of the proposed controller.
- 英文摘要: --
- 中文關鍵字: sliding mode, force componsator, force control, robot
- 英文關鍵字: --