Compliant motion control for non-redundant rigid robotic manipulators

A novel robust trajectory/force controller is developed on the basis of a combination of sliding-mode and adaptive control techniques. exact knowledge of robot dynamics and environment sti€ ness is not required. The controller is constructed so as to track reference trajectories in the unconstrained directions and to regulate force at a desired value in the constrained directions. Changes in constraints are also taken into account in the design of the control law. The synthesis presented assumes a non-redundant rigid manipulator and known location/geometry of the environment. Simulation and experimental results are also presented.