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Unified formulation of variable structure control schemes for robot manipulators

✍ Scribed by Bin Yao; Chan, S.P.; Danwei Wang

Book ID
115447907
Publisher
IEEE
Year
1994
Tongue
English
Weight
585 KB
Volume
39
Category
Article
ISSN
0018-9286

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πŸ“œ SIMILAR VOLUMES

Variable structure adaptive motion and f
Variable structure adaptive motion and force control of robot manipulators
✍ Bin Yao; S.P. Chan; Danwei Wang πŸ“‚ Article πŸ“… 1994 πŸ› Elsevier Science 🌐 English βš– 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

An improved variable structure model-fol
An improved variable structure model-following control for robotic manipulators
✍ Man Zhihong; M. Palaniswami πŸ“‚ Article πŸ“… 1993 πŸ› John Wiley and Sons 🌐 English βš– 626 KB

## Abstract An improved variable structure model‐following control scheme for rigid robotic manipulators is proposed in this paper. It is shown that the controller parameters are determined by only a few uncertain system matrix bounds. The proposed scheme results in greatly simplified controller de