Variable Structure Control of Manipulators with Joints having Flexibility and Backlash
This article studies the variable strucutre control of robot manipulators with joints having flexibility and backlash. A second order reference model and a smooth control law eliminate the reaching phase problems and the chattering usually present in the sliding mode. The results show a remarkable i...
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| Format: | conferenceObject |
| Language: | eng |
| Published: |
2019
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| Online Access: | http://hdl.handle.net/10400.22/13492 |
| Country: | Portugal |
| Oai: | oai:recipp.ipp.pt:10400.22/13492 |