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Sliding mode with adaptive estimation force control of robot manipulators interacting with an unknown passive environment

Published online by Cambridge University Press:  01 July 1999

C.J. Tsaprounis  and
N.A. Aspragathos
C.J. Tsaprounis
Affiliation:
University of Patras, Department of Mechanical and Aeronautical Engineering, Patras 26500 (Greece). E-mail: tsaproun@mech.upatras.gr, asprag@mech.upatras.gr
N.A. Aspragathos
Affiliation:
University of Patras, Department of Mechanical and Aeronautical Engineering, Patras 26500 (Greece). E-mail: tsaproun@mech.upatras.gr, asprag@mech.upatras.gr
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Abstract

In this paper, a force control algorithm for robot manipulators is introduced, where the dynamics of non-rigid environment interacting with the robot is assumed unknown. The controller design is based on the combination of sliding mode control techniques and the adaptive estimation theory, so the introduced controller compensates the structured or unstructured uncertainty of the environment. The main source of feedback information is received from a wrist force sensor. The designed controller includes additional absorption terms in order to minimise end-point velocity error and to suppress the impact effects at the beginning of the force application.

Keywords

Sliding modeRobot controlUnknown environmentAdaptive estimation force
Type
Research Article
Information
Robotica , Volume 17 , Issue 4 , July 1999 , pp. 447 - 458
Copyright
© 1999 Cambridge University Press

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