DocumentCode
1629734
Title
Stability analysis in variable structure position/force hybrid control of manipulators
Author
Azenha, Abílio ; Machado, J. A Tenreiro
Author_Institution
Fac. of Eng., Porto Univ., Portugal
fYear
1997
Firstpage
327
Lastpage
332
Abstract
In this paper is studied the implementation of a variable structure algorithm in the position/force hybrid control of robotic manipulators. The robustness and performances of the system are analysed both in terms of time and frequency responses
Keywords
control system analysis; force control; industrial manipulators; position control; stability; variable structure systems; VSC; VSS; frequency response; manipulators; robustness; stability analysis; time response; variable structure position/force hybrid control; Automatic control; Electric variables control; Force control; Jacobian matrices; Manipulators; Robot control; Robot kinematics; Robotics and automation; Sliding mode control; Stability analysis;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Engineering Systems, 1997. INES '97. Proceedings., 1997 IEEE International Conference on
Conference_Location
Budapest
Print_ISBN
0-7803-3627-5
Type
conf
DOI
10.1109/INES.1997.632439
Filename
632439
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