In this paper, a robust adaptive position/force control strategy based on a terminal sliding-mode was designed for the constrained flexible-link and flexible-joint manipulator. At first, the dimensional reduced dynamic model of flexible link with flexible joint is obtained by coordinate transformation. Then, in order to guarantee the stability of the system, the controller design process is divided into three steps. Furthermore, by using the theory of finite-time, the controller can guarantee that the position error and force error asymptotic converge to zero in finite time. Finally, the simulation results illustrate the validity and the feasibility of the proposed method in this paper.
Flexible link Flexible joint Adaptive control Sliding mode
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