MANIPULATION
Dynamic analysis in variable structure position/force hybrid control of manipulators
Abílio Azenha, J. A. Tenreiro Machado
- Year
- 2002
- Citations
- 7
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
Control theory (sociology)Robustness (evolution)Limit cyclePosition (finance)Variable (mathematics)Limit (mathematics)Computer scienceRobot manipulatorRobust controlStability (learning theory)
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