• DocumentCode
    1436091
  • Title

    A new and simple algorithm for sliding mode trajectory control of the robot arm

  • Author

    Chen, Yi-feng ; Mita, Tsutomu ; Wakui, Shinji

  • Author_Institution
    Dept. of Electr. & Electron. Eng., Chiba Univ., Japan
  • Volume
    35
  • Issue
    7
  • fYear
    1990
  • fDate
    7/1/1990 12:00:00 AM
  • Firstpage
    828
  • Lastpage
    829
  • Abstract
    A simple sliding mode trajectory control of the robot arm that needs no inverse of the inertia matrix is derived. The assumptions underlying the derivation are outlined
  • Keywords
    position control; robots; variable structure systems; robot arm; sliding mode trajectory control; Asymptotic stability; Differential equations; Poles and zeros; Polynomials; Robot control; Robotics and automation; Sliding mode control; Transfer functions;
  • fLanguage
    English
  • Journal_Title
    Automatic Control, IEEE Transactions on
  • Publisher
    ieee
  • ISSN
    0018-9286
  • Type

    jour

  • DOI
    10.1109/9.57022
  • Filename
    57022
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1436091