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In this article, a variable structure control (VSC) method is developed for robust motion and constrained force control of robot manipulators in the presence of parametric uncertainties, external disturbances, and constraint function uncertainties. The method is based on a particular structure of the constrained robot, in which motion control and force control are treated together. The proposed VSC controller provides the sliding mode and reaching transient response with prescribed qualities. A sufficient condition to guarantee the robot does not lose contact with the constraint surface is given. Detailed simulation results illustrate the proposed method. \u00a9 1994 John Wiley &amp; Sons, Inc.<\/jats:p>","DOI":"10.1002\/rob.4620110605","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T15:18:04Z","timestamp":1183735084000},"page":"503-515","source":"Crossref","is-referenced-by-count":3,"title":["Vsc motion and force control of robot manipulators in the presence of environmental constraint uncertainties"],"prefix":"10.1002","volume":"11","author":[{"given":"Bin","family":"Yao","sequence":"first","affiliation":[]},{"given":"S. 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