Title :
Unified formulation of variable structure control schemes for robot manipulators
Author :
Yao, Bin ; Chan, S.P. ; Wang, Danwei
Author_Institution :
Dept. of Mech. Eng., California Univ., Berkeley, CA, USA
fDate :
2/1/1994 12:00:00 AM
Abstract :
A general target model is proposed in the task space to represent motion trajectory, interaction force trajectory, and second-order function relating the motion errors and the interaction force errors. Using variable structure model reaching control (VSMRC) strategy, the model is achieved in the sliding mode with robust performance. Reaching transient can be eliminated or guaranteed with prescribed quality. By choosing a suitable model for the application, robust motion control, impedance control, hybrid position/force control, or constrained motion control are achieved, respectively
Keywords :
control system synthesis; force control; position control; robots; transient response; variable structure systems; force control; general target model; impedance control; interaction force trajectory; manipulators; motion control; motion errors; motion trajectory; position control; reaching transient; robot; second-order function; sliding mode; task space; variable structure control; variable structure model reaching control; Artificial intelligence; Automatic control; Force control; Manipulators; Motion control; Robot control; Robust control; Stability; Sufficient conditions; Trajectory;
Journal_Title :
Automatic Control, IEEE Transactions on
