Variable structure adaptive motion and f
β
Bin Yao; S.P. Chan; Danwei Wang
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Article
π
1994
π
Elsevier Science
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English
β 436 KB
A variable structure adaptive method is developed for robust motion and force tracking control of robot manipulators in the presence of uncertainties in parameters of robot dynamics, contact surface, and external disturbances. The method takes advantages of both variable structure control (VSC) and