An adaptive sliding-mode approach for force/motion control of manipulators under holonomic constraints

Engineering

• Sliding Mode 100%
• Algorithm 50%
• Control Law 50%
• External Disturbance 50%
• Asymptotic Stability 50%
• Control Force 50%
• Applied Torque 50%
• Manipulator 50%
• Manipulator System 50%
• Parameter Uncertainty 50%
• Position Vector 50%
• Priori Knowledge 50%
• Line Estimation 50%
• Force Vector 50%
• Force Feedback 50%

Mathematics

• Asymptotic Stability 50%
• Holonomic Constraint 50%
• Priori Knowledge 50%