Variable structure control of robots with nonlinear friction and backlash at the joints
This paper investigates the control of robots with nonlinear friction and dynamic backlash in the joints. The study is based on the describing function (DF) of nonlinear systems. The controllers studied are the first order model and the second order model variable structure controllers (FOM-VSC and...
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| Formato: | conferenceObject |
| Idioma: | eng |
| Publicado em: |
1996
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| Texto completo: | http://hdl.handle.net/10400.22/13497 |
| País: | Portugal |
| Oai: | oai:recipp.ipp.pt:10400.22/13497 |