Title :
A new and simple algorithm for sliding mode trajectory control of the robot arm
Author :
Chen, Yi-feng ; Mita, Tsutomu ; Wakui, Shinji
Author_Institution :
Dept. of Electr. & Electron. Eng., Chiba Univ., Japan
fDate :
7/1/1990 12:00:00 AM
Abstract :
A simple sliding mode trajectory control of the robot arm that needs no inverse of the inertia matrix is derived. The assumptions underlying the derivation are outlined
Keywords :
position control; robots; variable structure systems; robot arm; sliding mode trajectory control; Asymptotic stability; Differential equations; Poles and zeros; Polynomials; Robot control; Robotics and automation; Sliding mode control; Transfer functions;
Journal_Title :
Automatic Control, IEEE Transactions on
