Tracking and force control of a Scara robot under a constraint using sliding mode control
نویسندگان
چکیده
In this paper are proposed two control algorithms, based on the sliding-mode technique, to track a trajectory and regulate the force ejected by the end effector in a 4-DOF Scara robot system subject to a position constraint. The system may be in non-constrained motion at some time, or in constrained motion at some other time. It is shown that the nonlinear system is globally asymptotically stable and achieves zero steady-state position error. Numerical results show the performance of the proposed controllers.
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