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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Bibliographic Details
Main Author: Azenha, Abílio (author)
Other Authors: Tenreiro Machado, J. A. (author)
Format: conferenceObject
Language:eng
Published: 1998
Subjects:
Manipulator dynamics
Poles and zeros
Variable structure systems
Position control
Force control
Manipulator kinematics
Robust control
Frequency response
Online Access:http://hdl.handle.net/10400.22/13586
Country:Portugal
Oai:oai:recipp.ipp.pt:10400.22/13586

Internet

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

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