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

In this paper it is studied the implementation of a variable structure algorithm in position/force hybrid control of robotic manipulators. The robustness and performances of the system are analysed both in terms of time and frequency responses.

Bibliographic Details
Main Author: Azenha, Abílio (author)
Other Authors: Tenreiro Machado, J. A. (author)
Format: conferenceObject
Language:eng
Published: 1997
Subjects:
Position control
Force control
Stability
Control system analysis
Variable structure systems
Industrial manipulators
Online Access:http://hdl.handle.net/10400.22/13549
Country:Portugal
Oai:oai:recipp.ipp.pt:10400.22/13549

Internet

http://hdl.handle.net/10400.22/13549

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