No abstract

In order to realize the position control and contact force control of a class of planar three link constrained manipulators end-effector, a hybrid control strategy based on sliding mode controller is proposed. First, the dynamic model of the planar three link constrained manipulator is given. Then, the model order reduction design for the constrained manipulator is proposed with using the constraint condition. Furthermore, a controller based on sliding mode is presented and the tracking error of position and contact force is shown to be globally asymptotically stable via Lyapunov stability theory. Finally, numerical simulations of a planar three link constrained manipulator are performed to illustrate the effectiveness of the proposed control scheme.

With the continuous improvement of computer numerical control (CNC)