Abstract
This paper considers the problem to design force controller for a one-link robot manipulator with contact motion to environments. Generally, the environmental characteristics that the manipulator is in contact with are not often known, and some of them have nonlinearity. Therefore we assume the environmental characteristic which is identified in real time as the spring element, and make it scheduling variable. We propose a new type of sliding mode controller with gain scheduling type variable hyperplane. By using this controller, hyperplane can be changed for various environments and adapted to nonlinearity of the environmental characteristic.
