Force/Motion Hybrid Control of Three Link Constrained Manipulator Using Sliding Mode

  • Sheng Gao
  • Wei ZhangEmail author
  • Weiguo Kong
  • Hucun Ren
  • Bopi Jin
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11745)


In order to realize the position control and contact force control of a class of planar three link constrained manipulators end-effector, a hybrid control strategy based on sliding mode controller is proposed. First, the dynamic model of the planar three link constrained manipulator is given. Then, the model order reduction design for the constrained manipulator is proposed with using the constraint condition. Furthermore, a controller based on sliding mode is presented and the tracking error of position and contact force is shown to be globally asymptotically stable via Lyapunov stability theory. Finally, numerical simulations of a planar three link constrained manipulator are performed to illustrate the effectiveness of the proposed control scheme.


Three link constrained manipulator Dynamic model Sliding mode Force/Motion hybrid control 



This work is supported by Foundation of State Key Laboratory of Robotics under Grant 2017-Z011 and 2019-Z06, Strategic Priority Research Program on Space Science, the Chinese Academy of Sciences under Grant XDA1502030505. All the authors are grateful for the funding.


  1. 1.
    Shao, Z., Li, S., Yin, H.: Robust sliding-mode position/force set-point control of underactuated constrained manipulator. In: 2017 36th Chinese Control Conference (CCC), Dalian, pp. 1162–1167 (2017)Google Scholar
  2. 2.
    Mai, T., Wang, Y.: Adaptive force/motion control system based on recurrent fuzzy wavelet CMAC neural networks for condenser cleaning crawler-type mobile manipulator robot. IEEE Trans. Control Syst. Technol. 22(5), 1973–1982 (2014)CrossRefGoogle Scholar
  3. 3.
    Chen, C., Liu, Z.: Adaptive motion/force control of robots with input nonlinearities via fuzzy logic system. In: 2014 International Conference on Mechatronics and Control (ICMC), Jinzhou, pp. 11–15 (2014)Google Scholar
  4. 4.
    Fan, X.P., Xu, J.M., Mao, Z.Y., et al.: Robust variable structure hybrid position force control for constrained flexible-link manipulators. Acta Automatica Sinica 26(02), 176–183 (2000)MathSciNetGoogle Scholar
  5. 5.
    Su, C.Y., Leung, T.P., Zhou, Q.J.: Force/motion control of constrained robots using sliding mode. IEEE Trans. Autom. Control 37(5), 668–672 (1992)MathSciNetCrossRefGoogle Scholar
  6. 6.
    Huang, T., Sun, L.N., Wang, Z.H., et al.: Hybrid force/position control method for robotic polishing based on passive compliance structure. Robot 39(6), 776–785 (2017)Google Scholar
  7. 7.
    Li, Y.C., Song, Y., Zhao, B.: Modular position/force control for environmental constrained reconfigurable manipulator. J. Shanghai Jiao Tong Univ. 51(6), 709–714 (2017)Google Scholar
  8. 8.
    Haifa, M., Olfa, B.: PSO-Lyapunov motion/force control of robot arms with model uncertainties. Robotica 34(3), 634–651 (2016)CrossRefGoogle Scholar
  9. 9.
    Cai, C., Somani, N., Rickert, M., et al.: Prioritized motion-force control of multi-constraints for industrial manipulators. IEEE Int. Conf. Robot. Biomim. IEEE, pp. 952–957 (2015)Google Scholar
  10. 10.
    Lang, L., Wang, J., Wei, Q., et al.: Compliant landing of a trotting quadruped robot based on hybrid motion/force robust control. J. Central South Univ. 23(8), 1970–1980 (2016)CrossRefGoogle Scholar
  11. 11.
    Liu, J.K., Guo, Y.: output feedback dynamic surface control for N link manipulators with actuator saturation. Control Decis. 30(5), 871–876 (2015)Google Scholar
  12. 12.
    Liu, J.K.: Robot Control System Design and MATLAB Simulation: the Basic Design Method, pp. 282–287. Tsinghua University Press, Beijing (2016)Google Scholar

Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Sheng Gao
    • 1
    • 2
  • Wei Zhang
    • 1
    • 2
    Email author
  • Weiguo Kong
    • 1
    • 2
  • Hucun Ren
    • 1
    • 2
  • Bopi Jin
    • 1
    • 2
  1. 1.State Key Laboratory of Robotics, Shenyang Institute of AutomationChinese Academy of SciencesShenyangChina
  2. 2.Institutes for Robotics and Intelligent ManufacturingChinese Academy of SciencesShenyangChina

Personalised recommendations