Motion/Force Control of a Constrained Robot using Non-Singular Terminal Sliding Mode

Abstract

In this paper, a hybrid motion/force control strategy is designed for a constrained robotic manipulator using non-singular terminal sliding mode. At first, a reduced motion/force model is obtained according to the coordinate transformation. Then, a non-singular terminal sliding mode is applied to the new dynamic model to make the motion tracking error converge to zero in finite time while the force tracking error can be reduced to arbitrarily small value. Finally, numerical simulation results for a constrained robot illustrate the expected performance.