Abstract
In this paper, a new approach employing sliding-mode based smooth robust compensators is developed for simultaneous position and force control of an uncertain robot manipulator performing constrained tasks in the presence of environmental stick-slip friction. Under the proposed approach, the robot manipulator can exert a preset amount of force on the environment while tracking along a desired trajectory with global asymptotic stability, as proved by Lyapunov's direct method. A numerical example of a 2-link robot performing a constrained task is presented.
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