Cartesian Sliding PD Force-Position Control for Constrained Robots under Jacobian Uncertainty

Joint control requires to map desired cartesian tasks into desired joint trajectories. To avoid this, cartesian control directly codes the task in cartesian coordinates, which is relevant in particular for force control since the force task is always given in operational (cartesian) space. In this paper, local exponential and finite time tracking controllers for constrained motion without using inverse kinematics is proposed. The novelty lies, besides its nontrivial extension from ODE (position) robots to DAE (force) robots, in the fact that fast tracking is obtained without using the model of the robot nor exact knowledge of inverse jacobian. The scheme, coined cartesian sliding PD force control, shows a smooth control input. Simulations results shows the expected tracking performance.