Continuous sliding mode impedance control for robots

Abstract

In the paper a continuous sliding mode impedance robot task space controller is presented. Continuous sliding mode was introduced into the robot task space impedance control in order to assure robustness of the control approach to robot dynamic parameters changes and in order to achieve simple implementation of the control algorithm. The analysis of the robot dynamic model is represented from which robot singularity points are determined and the range for the estimated value of robot inertia is obtained. The control algorithm is designed and the simulation and experimental results are represented.