DESIGN OF SLINDING POSITION/FORCE CONTROLLER FOR ROBOT MANIPULATOR UNDER WORKING ENVIRONMENT

Abstract

This paper presents a method of sliding position/force controller design for
robot manipulators under working environment constraint. Compare to the
tranditional PID controller, the sliding mode controller has advantages such as high
stability, robustness and ensure the end - effector robot interaction high tracking
the reference value regrardless of the parameter uncertainty. The stability of the
position/force controller is proved by Lyapunov theory. The simulation results of
A465 CRS robotics using Matlab Simulink software guarantee the accuracy and
reliability of the position/force end - effector robot manipulators