Chattering elimination in the hybrid control of constrained manipulators via first/ second order sliding mode control (Q1290883)

The hybrid position/force control problem for constrained robot manipulators with \(n\)-degrees of freedom is considered. Under suitable assumptions, the dynamics of the robot is expressed by a redundant system of \(n+m\) differential/algebraic equations. When the acceleration vector is not available, it is explicitly shown how to track a force pattern by applying the sliding mode control approach with chattering elimination. Assuming the acceleration vector to be not available, the case \(n-m=1\) (\(m\) is the number of holonomic constraints) is studied and a second order sliding mode control algorithm is proposed. Finally, a simulation example is presented.