Compliant motion control for non-redundant rigid robotic manipulators

A. Lanzon, R. J. Richards

    Research output: Contribution to journalArticlepeer-review


    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 stiffness 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.
    Original languageEnglish
    Pages (from-to)225-241
    Number of pages16
    JournalInternational Journal of Control
    Issue number3
    Publication statusPublished - 15 Feb 2000


    Dive into the research topics of 'Compliant motion control for non-redundant rigid robotic manipulators'. Together they form a unique fingerprint.

    Cite this