A Variable Structure Control Algorithm for Robot Manipulators Using Acceleration Feedback
A new variable structure control algorithm for robot manipulators is announced. Second order linear system sliding curves and a new control law, eliminate the reaching phase problems as well as the chattering usually present in the sliding mode. This controller architecture may also be interpreted a...
| Autor principal: | |
|---|---|
| Outros Autores: | |
| Formato: | book |
| Idioma: | eng |
| Publicado em: |
1990
|
| Assuntos: | |
| Texto completo: | http://hdl.handle.net/10400.22/8802 |
| País: | Portugal |
| Oai: | oai:recipp.ipp.pt:10400.22/8802 |