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Fixed-time compliant motion/force control of robotic manipulators with environmental constraints

Chao Ma (School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China)

Assembly Automation

ISSN: 0144-5154

Article publication date: 7 August 2017

Abstract

Purpose

The 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/approach

This 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.

Findings

Based on fixed-time stability theory, the desired compliant motion/force controller for robotic manipulators with environmental constraints is developed.

Originality/value

Compared 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.

Keywords

Acknowledgements

This work was supported by the Fundamental Research Funds for the Central Universities under Grant FRF-TP-15-115A1.

Citation

Ma, C. (2017), "Fixed-time compliant motion/force control of robotic manipulators with environmental constraints", Assembly Automation, Vol. 37 No. 3, pp. 271-277. https://doi.org/10.1108/AA-11-2016-158

Publisher

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Emerald Publishing Limited

Copyright © 2017, Emerald Publishing Limited