DocumentCode
299027
Title
Sliding mode control of a hydraulic industrial robot
Author
Habibi, S.R.
Author_Institution
Robotics & Autom. Lab., Toronto Univ., Ont., Canada
Volume
2
fYear
1995
fDate
21-23 Jun 1995
Firstpage
1523
Abstract
This paper considers the application of computed torque and variable structure controllers to a hydraulic industrial robot, the Workmaster, formerly manufactured by Thorn EMI Robotics. The model based controllers are examined and the effectiveness of feedback and feedforward compensation is demonstrated
Keywords
compensation; feedback; feedforward; hydraulic control equipment; industrial manipulators; manipulators; torque control; variable structure systems; Thorn EMI Robotics; Workmaster; computed torque controllers; feedback compensation; feedforward compensation; hydraulic industrial robot; model-based controllers; sliding mode control; variable structure controllers; Computer aided manufacturing; Computer applications; Computer industry; Electromagnetic interference; Industrial control; Manufacturing industries; Pulp manufacturing; Service robots; Sliding mode control; Torque control;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, Proceedings of the 1995
Conference_Location
Seattle, WA
Print_ISBN
0-7803-2445-5
Type
conf
DOI
10.1109/ACC.1995.521006
Filename
521006
Link To Document