Title: Adaptive motion/force control of constrained manipulators using a new fast terminal sliding mode

Authors: Qianlei Cao; Shurong Li; Dongya Zhao

Addresses: Department of Control Theory and Control Engineering, China University of Petroleum, Qingdao 266580, China ' Department of Control Theory and Control Engineering, China University of Petroleum, Qingdao 266580, China ' Department of Chemical Industrial Equipment and Control Engineering, China University of Petroleum, Qingdao 266580, China

Abstract: In this paper, we discuss the finite-time motion/force control problem for robot manipulators with environmental constraint and robotic modelling uncertainties. An adaptive finite-time motion/force control strategy is designed using a new fast terminal sliding mode. Firstly, motion control and force control are decoupled according to the coordinate transformation. Secondly, a new fast terminal sliding mode consisting of motion tracking errors and force tracking error is proposed and applied into the new dynamic model. Then, an adaptive motion/force control algorithm combined with the new fast terminal sliding mode is designed to make the motion tracking errors and force tracking error converge to zero in finite time. Finally, simulation results for a two-link constrained manipulator are presented to validate the analysis.

Keywords: constrained manipulators; motion control; force control; adaptive control; fast terminal sliding mode; robot control; environmental constraints; robotic modelling; uncertainty modelling; dynamic modelling; simulation.

DOI: 10.1504/IJCAT.2014.060526

International Journal of Computer Applications in Technology, 2014 Vol.49 No.2, pp.150 - 156

Available online: 18 Apr 2014 *

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