Non-singular terminal sliding mode force position control method for constraint-oriented reconfigurable manipulator
A non-singular terminal and control method technology, applied in the field of robot control method and constrained system control, can solve the problems of chattering, slow convergence speed, low tracking accuracy, etc., to suppress chattering effect, increase system reliability and improve system reliability. The effect of stability and lower application cost
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[0044] The present invention will be further described in detail below in conjunction with the accompanying drawings.
[0045] The constraint-oriented non-singular terminal sliding mode force position control method of the reconfigurable manipulator described in the present invention is generally suitable for integrating standard modules and interfaces, and can recombine and configure its own configuration according to different task requirements. Construct the robotic arm system. Since the control method designed in the present invention is applicable to various manipulator configurations, two configurations A and B are selected as examples to illustrate the effectiveness of the method designed in the invention.
[0046] Such as figure 1 As shown, the configuration A of the application object of the non-singular terminal sliding mode force position control method for the constraint-oriented reconfigurable manipulator of the present invention, for the convenience of descripti...
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