• DocumentCode
    487354
  • Title

    Application of Sliding Mode to Constrained Robot Motion Control

  • Author

    Young, K.David

  • Author_Institution
    Lawerence Livermore National Laboratory, University of California, P.O. Box 808, L-97, Livermore, California 94550
  • fYear
    1988
  • fDate
    15-17 June 1988
  • Firstpage
    912
  • Lastpage
    918
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    American Control Conference, 1988
  • Conference_Location
    Atlanta, Ga, USA
  • Type

    conf

  • Filename
    4789853
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=487354