Title :
Continuous sliding mode impedance control for robots
Author :
Uran, Suzana ; Jezernik, Karel
Author_Institution :
Fac. of Electr. Eng. & Comput. Sci., Maribor Univ., Slovenia
Abstract :
In the paper a continuous sliding mode impedance robot task space controller is presented. Continuous sliding mode was introduced into the robot task space impedance control in order to assure robustness of the control approach to robot dynamic parameters changes and in order to achieve simple implementation of the control algorithm. The analysis of the robot dynamic model is represented from which robot singularity points are determined and the range for the estimated value of robot inertia is obtained. The control algorithm is designed and the simulation and experimental results are represented
Keywords :
electric impedance; electric variables control; robots; variable structure systems; continuous sliding mode impedance control; robot dynamic parameters changes; robot singularity points; robots; task space controller; Algorithm design and analysis; Computer science; Force control; Impedance; Inverse problems; Orbital robotics; Robot control; Robot sensing systems; Robust control; Sliding mode control;
Conference_Titel :
Industrial Electronics, 1999. ISIE '99. Proceedings of the IEEE International Symposium on
Conference_Location :
Bled
Print_ISBN :
0-7803-5662-4
DOI :
10.1109/ISIE.1999.801810
