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
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;
Conference_Titel :
Intelligent Engineering Systems, 1997. INES '97. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Budapest
Print_ISBN :
0-7803-3627-5
DOI :
10.1109/INES.1997.632439
