PurposeThe purpose of this paper is to design a new compliant motion/force control strategy for robotic manipulators with environmental constraints in the sense of fixed-time stability.Design/methodology/approachThis paper investigates a novel compliant motion/force control strategy for robotic manipulators with environmental constraints. By using the Lyapunov theory and fixed-time stability theory, a non-singular terminal sliding mode manifold is first established. Then, the compliant motion/force controller is designed, and relevant conditions are given for guaranteeing that the robotic manipulator can track the prescribed constrained trajectory while exerting a desired force to the environment in fixed-time. An illustrative example is presented to show the effectiveness of our proposed control strategy.FindingsBased on fixed-time stability theory, the desired compliant motion/force controller for robotic manipulators with environmental constraints is developed.Originality/valueCompared with most existing literature, the proposed fixed-time compliant motion/force control strategy can provide the upper bound of the settling time independent of the initial conditions in designing procedure and is more practical for the real-world applications.
Assembly Automation – Emerald Publishing
Published: Aug 7, 2017
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