DocumentCode
700947
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
fYear
1997
fDate
1-7 July 1997
Firstpage
3059
Lastpage
3064
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference (ECC), 1997 European
Conference_Location
Brussels
Print_ISBN
978-3-9524269-0-6
Type
conf
Filename
7082578
Link To Document