Abstract

We treat the question of position and force control of three-axis elastic robotic systems on a constraint surface in the presence of robot parameter and environmental constraint geometry uncertainties. A sliding mode control law is derived for the position and force trajectory control of manipulator. Instability of the zero dynamics is avoided by controlling a point which lies in the neighborhood of the actual end point position. The maneuver of the arm using the sliding mode controller causes elastic mode excitation. For point-to-point control on the constraint surface, a stabilizer is designed for the final capture of the terminal state and vibration suppression. >

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call

Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.