Dynamic analysis in variable structure position/force hybrid control of manipulators

In this paper it is studied the implementation of a variable structure algorithm in the position/force hybrid control of robotic manipulators. The robustness and performances of the system are analysed in terms of time responses and limit cycle occurence. It is also considered the stability limit re...

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Bibliographic Details
Main Author: Azenha, Abílio (author)
Other Authors: Tenreiro Machado, J. A. (author)
Format: conferenceObject
Language:eng
Published: 1997
Subjects:
Manipulators
Variable structure systems
Position control
Force control
Robust control
Online Access:http://hdl.handle.net/10400.22/13551
Country:Portugal
Oai:oai:recipp.ipp.pt:10400.22/13551

Internet

http://hdl.handle.net/10400.22/13551

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