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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Bibliographic Details
Main Author: Tenreiro Machado, J. A. (author)
Format: conferenceObject
Language:eng
Published: 1993
Subjects:
Control system synthesis
Digital control
Manipulators
Microcomputer applications
Stability
Variable structure systems
Online Access:http://hdl.handle.net/10400.22/13467
Country:Portugal
Oai:oai:recipp.ipp.pt:10400.22/13467

Internet

http://hdl.handle.net/10400.22/13467

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