Title :
Comments on "A new and simple algorithm for sliding mode trajectory control of robot arm" by Y.F. Chen, et al
Author :
Myszkorowski, Piotr
Author_Institution :
INRIA Project Prisme, Sophia Antipolis, France
fDate :
7/1/1992 12:00:00 AM
Abstract :
Using the approach presented in the above-titled work (ibid., vol.35, p.828-828, July 1990). The commenter provides simplifications to the control algorithm presented there as well as yielding stronger stability conditions.<>
Keywords :
position control; robots; stability; variable structure systems; control algorithm; robot arm; sliding mode trajectory control; stability conditions; variable structure systems; Force control; Friction; Manipulator dynamics; Robot control; Robot kinematics; Robotics and automation; Sliding mode control; Stability; Symmetric matrices; Torque control;
Journal_Title :
Automatic Control, IEEE Transactions on
