Title :
Introduction of a reset action in sliding mode control of robots
Author :
Gorez, R. ; Zanasi, R. ; Antonelli, G. ; Ganseman, C. ; De Schutter, J.
Author_Institution :
CESAME, Univ. Louvain, Louvain-La-Neuve, Belgium
Abstract :
Different ways for introducing reset actions in sliding mode control of point-to-point displacements of robot manipulators are investigated. Performance of the control system is appraised through experiments with one and three axes of a 6-DOF industrial robot.
Keywords :
displacement control; manipulators; variable structure systems; 6-DOF industrial robot; point-to-point displacement control; reset action; robot manipulators; sliding mode control; Joints; Manifolds; Manipulators; Sliding mode control; Torque; PID control; Robotics; Variable structure;
Conference_Titel :
Control Conference (ECC), 1997 European
Conference_Location :
Brussels
Print_ISBN :
978-3-9524269-0-6
