DocumentCode
3354664
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
fYear
1994
fDate
5-9 Dec 1994
Firstpage
48
Lastpage
52
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Industrial Technology, 1994., Proceedings of the IEEE International Conference on
Conference_Location
Guangzhou
Print_ISBN
0-7803-1978-8
Type
conf
DOI
10.1109/ICIT.1994.467177
Filename
467177
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