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This paper deals withthe hybrid position/force control of constrainedmanipulators subjected to uncertainties. A solution is proposedthat is based on sliding-mode control theory, which proved tobe highly effective in counteracting uncertainties for some classesof nonlinear systems. Specific problems involved in this techniqueare chattering elimination and the algebraic coupling betweenconstraint forces...
This paper deals with the hybrid position/force control problem for constrained manipulators subjected to uncertainties and disturbance of various natures. This problem can be formulated in terms of the solution to differential algebraic equations with a structure which allows the separation of the force and position control when the system is perfectly known. A solution for the uncertain case has...
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