Adaptive sliding-mode hybrid force/position controller for flexible joint robot

A novel adaptive sliding mode control design is developed for trajectory tracking of a class of flexible robots in this paper. This control design uses a force/position controller for robots with flexible joints where the friction between the end effector and the environment is taken into account. F...

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Bibliographic Details
Published in2008 IEEE International Conference on Mechatronics and Automation pp. 724 - 731
Main Authors Farooq, M., Wang, D.B., Dar, N.U.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.08.2008
Subjects
Adaptive control
Control design
Control systems
End effectors
Force control
Friction
Friction force
Lyapunov stability
Programmable control
Robot control
Robot end effector
Sliding mode control
Trajectory
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Summary:A novel adaptive sliding mode control design is developed for trajectory tracking of a class of flexible robots in this paper. This control design uses a force/position controller for robots with flexible joints where the friction between the end effector and the environment is taken into account. For systematic reasons the controller is designed considering the rigid links subsystem and the flexible joints. The proposed control system, satisfies the stability of the two subsystems and cope with the uncertainty of the robot dynamics. Finally simulation results are given to demonstrate the effectiveness of the proposed controller.
ISBN:1424426316
9781424426317
ISSN:2152-7431
2152-744X
DOI:10.1109/ICMA.2008.4798846