Title :
VSS theory in a control synthesis of robots with AC drives
Author :
Curk, Boris ; Jezernik, Karel
Author_Institution :
Fac. of Tech. Sci., Maribor Univ., Yugoslavia
Abstract :
A control approach is proposed for robust, accurate trajectory tracking of manipulators based on the variable-structure system (VSS) theory. A problem of the incorporation of AC drives with switching torque control into a robot system is discussed
Keywords :
control system synthesis; electric drives; position control; robots; torque control; variable structure systems; AC drives; control system synthesis; manipulators; robots; switching torque control; trajectory tracking; variable-structure system; Adaptive control; Control system synthesis; Electric variables control; Manipulator dynamics; Robot control; Robot kinematics; Robust control; Sliding mode control; Torque control; Variable structure systems;
Conference_Titel :
Electrotechnical Conference, 1991. Proceedings., 6th Mediterranean
Conference_Location :
LJubljana
Print_ISBN :
0-87942-655-1
DOI :
10.1109/MELCON.1991.161994
