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Variable Structure Control of Robot Manipulators with Perturbation Estimator

✍ Scribed by S. P. Chan

Book ID
110257518
Publisher
Springer Netherlands
Year
1999
Tongue
English
Weight
231 KB
Volume
26
Category
Article
ISSN
0921-0296

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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

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## 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