Dynamic performance of hybrid robot controllers near singularities

This paper studies the performance of a variable structure algorithm in the position/force hybrid of robotic manipulators. It is shown that a reformulation of the kinematic position loop using pseudo-inverses improves the system response namely in the neighbourhood of singular points. The robustness...

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Detalhes bibliográficos
Autor principal: Azenha, Abílio (author)
Outros Autores: Tenreiro Machado, J. A. (author)
Formato: conferenceObject
Idioma:eng
Publicado em: 1998
Assuntos:
Manipulator dynamics
Poles and zeros
Variable structure systems
Position control
Force control
Manipulator kinematics
Robust control
Frequency response
Texto completo:http://hdl.handle.net/10400.22/13586
País:Portugal
Oai:oai:recipp.ipp.pt:10400.22/13586

Texto Completo

http://hdl.handle.net/10400.22/13586

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