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In the outer loop, the variable admittance algorithm is developed to adjust admittance parameters during a collision to minimize the collision time, which gives the robot compliance property and reduce the rigid collision influence. Then, by employing the Lyapunov theory and the fixed-time stability theory, a new nonsingular sliding mode manifold is proposed and an adaptive fixed-time SMC algorithm is presented in the inner loop. More precisely, this approach enables rapid convergence, enhanced steady-state tracking precision, and a settling time that is independent of system initial states. As a result, the effectiveness and improved performance of the proposed algorithm are demonstrated through extensive simulations and experimental results.<\/jats:p>","DOI":"10.1017\/s0263574724000468","type":"journal-article","created":{"date-parts":[[2024,5,2]],"date-time":"2024-05-02T08:25:50Z","timestamp":1714638350000},"page":"1731-1760","source":"Crossref","is-referenced-by-count":8,"title":["Compliant variable admittance adaptive fixed-time sliding mode control for trajectory tracking of robotic 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