Variable structure control of manipulators with joints having flexibility and backlash
This article studies the variable structure control of robot manipulators with joints having flexibility and bcklash. A second order reference model and smoth control law eliminate the reaching phase problems and the chattering usually present in the sliding mode. The results show a remarkable impro...
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| Formato: | article |
| Idioma: | eng |
| Publicado em: |
2016
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| Texto completo: | http://hdl.handle.net/10400.22/8880 |
| País: | Portugal |
| Oai: | oai:recipp.ipp.pt:10400.22/8880 |
| Resumo: | This article studies the variable structure control of robot manipulators with joints having flexibility and bcklash. A second order reference model and smoth control law eliminate the reaching phase problems and the chattering usually present in the sliding mode. The results show a remarkable improvement of the stability over conventional variable structure controllers, while the algorithm maintains a low computational load that makes it well suited for microcomputer implementation. |
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