Title :
Dynamic analysis in variable structure position/force hybrid control of manipulators
Author :
Azenha, Abílio ; Machado, J. A Ternreiro
Author_Institution :
Dept. of Electr. & Comput. Eng., Porto Univ., Portugal
Abstract :
The article studies the implementation of a variable structure algorithm in the position/force hybrid control of robotic manipulators. The robustness and performance of the system are analysed in terms of time responses and limit cycle occurrence. Also considered is the stability limit relative to different system operating points and the adoption of multirate sampling frequencies
Keywords :
force control; manipulators; position control; robust control; variable structure systems; dynamic analysis; limit cycle occurrence; manipulator control; multirate sampling frequencies; performance; robotic manipulators; robustness; stability limit; system operating points; time responses; variable structure algorithm; variable structure position/force hybrid control; Electric variables control; Force control; Force measurement; Manipulator dynamics; Performance analysis; Robot control; Robot kinematics; Robotics and automation; Robust control; Robust stability;
Conference_Titel :
Systems, Man, and Cybernetics, 1997. Computational Cybernetics and Simulation., 1997 IEEE International Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-4053-1
DOI :
10.1109/ICSMC.1997.637377
