Title :
Variable structure hybrid control strategy for constrained robots
Author :
Yongqing, Liu ; Xiangcai, Wen
Author_Institution :
Dept. of Autom., South China Univ. of Technol., Guangzhou, China
Abstract :
In this paper, the problem of robust control of robots which perform contact tasks is considered. Using the hybrid control strategy, an efficient variable structure control algorithm based on Lagrange formulation is presented. Detailed analyses on tracking properties of joint positions, velocities and constrained forces are derived. Computer simulation result is presented to verify the analytical formulation
Keywords :
dynamics; force control; position control; robots; robust control; tracking; variable structure systems; velocity control; Lagrange formulation; constrained robots; dynamics; force feedback; hybrid control strategy; joint positions; joint velocities; robust control; tracking; variable structure control; Automatic control; Force control; Lagrangian functions; Orbital robotics; Robot control; Robot kinematics; Robotics and automation; Robust control; Sliding mode control; Symmetric matrices;
Conference_Titel :
Industrial Technology, 1994., Proceedings of the IEEE International Conference on
Conference_Location :
Guangzhou
Print_ISBN :
0-7803-1978-8
DOI :
10.1109/ICIT.1994.467177
