Unified formulation of variable structure control schemes for robot manipulators

Author

Yao, Bin ; Chan, S.P. ; Wang, Danwei

Author_Institution

Dept. of Mech. Eng., California Univ., Berkeley, CA, USA

Volume

39

Issue

2

fYear

1994

fDate

2/1/1994 12:00:00 AM

Firstpage

371

Lastpage

376

Abstract

A general target model is proposed in the task space to represent motion trajectory, interaction force trajectory, and second-order function relating the motion errors and the interaction force errors. Using variable structure model reaching control (VSMRC) strategy, the model is achieved in the sliding mode with robust performance. Reaching transient can be eliminated or guaranteed with prescribed quality. By choosing a suitable model for the application, robust motion control, impedance control, hybrid position/force control, or constrained motion control are achieved, respectively

Keywords

control system synthesis; force control; position control; robots; transient response; variable structure systems; force control; general target model; impedance control; interaction force trajectory; manipulators; motion control; motion errors; motion trajectory; position control; reaching transient; robot; second-order function; sliding mode; task space; variable structure control; variable structure model reaching control; Artificial intelligence; Automatic control; Force control; Manipulators; Motion control; Robot control; Robust control; Stability; Sufficient conditions; Trajectory;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/9.272337

Filename

272337