Variable structure control of manipulators with compliant joints
This article studies the variable structure control of robot manipulators with flexible joints. A second order preference 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 improvement of the stab...
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| Formato: | conferenceObject |
| Idioma: | eng |
| Publicado em: |
1993
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| Texto completo: | http://hdl.handle.net/10400.22/13467 |
| País: | Portugal |
| Oai: | oai:recipp.ipp.pt:10400.22/13467 |