Motion/force control of a constrained robot using non-singular terminal sliding mode

被引：0
作者：
Wang, Z. [1 ]
Cao, Q. [1 ]
Li, S. [1 ]
机构：
[1] College of Information and Control Engineering, China University of Petroleum, Qingdao
来源：
Australian Journal of Electrical and Electronics Engineering | 2014年 / 11卷 / 03期
关键词：
Constrained robot; Motion/force control; Non-singular terminal sliding mode control;
D O I：
10.7158/E13-172.2014.11.3
中图分类号：
学科分类号：
摘要：
In this paper, a hybrid motion/force control strategy is designed for a constrained robotic manipulator using non-singular terminal sliding mode. At first, a reduced motion/force model is obtained according to the coordinate transformation. Then, a non-singular terminal sliding mode is applied to the new dynamic model to make the motion tracking error converge to zero infinite lime while the force tracking error can be reduced to arbitrarily small value. Finally, numerical simulation results for a constrained robot illustrate the expected performance. © Institution of Engineers Australia, 2014.
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页码：303 / 308
页数：5
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