Variable structure position/force hybrid control of manipulators

被引：0

作者：

Machado, JAT ^{[1
]}

Azenha, A ^{[1
]}

机构：

[1] Univ Porto, Fac Engn, Dept Elect & Comp Engn, P-4099 Oporto, Portugal

来源：

ALGORITHMS AND ARCHITECTURES FOR REAL-TIME CONTROL 1997 | 1997年

关键词：

robotics; manufacturing systems; intelligent control; variable structure systems; force control;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper it is studied the implementation of a variable structure algorithm in the position/force hybrid control of robotic manipulators. The frequency response of the system is calculated and it is found to have good performances. An introduction to describing function analysis of the system is also included and effect of the controller sampling frequency is analysed.

引用

页码：337 / 342

页数：6