Title :
Application of Sliding Mode to Constrained Robot Motion Control
Author_Institution :
Lawerence Livermore National Laboratory, University of California, P.O. Box 808, L-97, Livermore, California 94550
Abstract :
Many robotic maipulator tasks involve arm motions which are constrained by the task geometry. This paper presents a new approach, based on the theory of variable structure systems and sliding mode, for the analysis and control design for robotic systems subject to task constraints.
Keywords :
Control systems; End effectors; Force control; Manipulator dynamics; Motion control; Orbital robotics; Robot control; Robot motion; Sliding mode control; Torque control;
Conference_Titel :
American Control Conference, 1988
Conference_Location :
Atlanta, Ga, USA
