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

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.