Adaptive Force Control for Unknown Environment Using Sliding Mode Controller with Variable Hyperplane

In this paper, a new type of sliding mode controller with gain-scheduled variable hyper plane for position and force control is presented. In this controller, the hyper plane in the sliding mode controller is continuously adjusted according to the environmental stiffness identified in real time. This controller is applied for force control using a one-degree-of-freedom manipulator system, and the performance of this controller is verified for both simulation and experiments.