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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| Format: | article |
| Language: | eng |
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2016
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| Online Access: | http://hdl.handle.net/10400.22/8880 |
| Country: | Portugal |
| Oai: | oai:recipp.ipp.pt:10400.22/8880 |