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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Bibliographic Details
Main Author: Azenha, Abílio (author)
Other Authors: Tenreiro Machado, J. A. (author)
Format: conferenceObject
Language:eng
Published: 1996
Subjects:
Variable structure control
Describing functions
Backlash
Friction
Robotics
Online Access:http://hdl.handle.net/10400.22/13497
Country:Portugal
Oai:oai:recipp.ipp.pt:10400.22/13497

Internet

http://hdl.handle.net/10400.22/13497

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