Title :
Sliding mode control of a hydraulic industrial robot
Author_Institution :
Robotics & Autom. Lab., Toronto Univ., Ont., Canada
Abstract :
This paper considers the application of computed torque and variable structure controllers to a hydraulic industrial robot, the Workmaster, formerly manufactured by Thorn EMI Robotics. The model based controllers are examined and the effectiveness of feedback and feedforward compensation is demonstrated
Keywords :
compensation; feedback; feedforward; hydraulic control equipment; industrial manipulators; manipulators; torque control; variable structure systems; Thorn EMI Robotics; Workmaster; computed torque controllers; feedback compensation; feedforward compensation; hydraulic industrial robot; model-based controllers; sliding mode control; variable structure controllers; Computer aided manufacturing; Computer applications; Computer industry; Electromagnetic interference; Industrial control; Manufacturing industries; Pulp manufacturing; Service robots; Sliding mode control; Torque control;
Conference_Titel :
American Control Conference, Proceedings of the 1995
Conference_Location :
Seattle, WA
Print_ISBN :
0-7803-2445-5
DOI :
10.1109/ACC.1995.521006
