Dynamic analysis in variable structure position/force hybrid control of manipulators

Author

Azenha, Abílio ; Machado, J. A Ternreiro

Author_Institution

Dept. of Electr. & Comput. Eng., Porto Univ., Portugal

Volume

5

fYear

1997

fDate

12-15 Oct 1997

Firstpage

4309

Abstract

The article studies the implementation of a variable structure algorithm in the position/force hybrid control of robotic manipulators. The robustness and performance of the system are analysed in terms of time responses and limit cycle occurrence. Also considered is the stability limit relative to different system operating points and the adoption of multirate sampling frequencies

Keywords

force control; manipulators; position control; robust control; variable structure systems; dynamic analysis; limit cycle occurrence; manipulator control; multirate sampling frequencies; performance; robotic manipulators; robustness; stability limit; system operating points; time responses; variable structure algorithm; variable structure position/force hybrid control; Electric variables control; Force control; Force measurement; Manipulator dynamics; Performance analysis; Robot control; Robot kinematics; Robotics and automation; Robust control; Robust stability;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man, and Cybernetics, 1997. Computational Cybernetics and Simulation., 1997 IEEE International Conference on

Conference_Location

Orlando, FL

ISSN

1062-922X

Print_ISBN

0-7803-4053-1

Type

conf

DOI

10.1109/ICSMC.1997.637377

Filename

637377