Utilize este identificador para referenciar este registo: http://hdl.handle.net/10400.22/8802
Título: A Variable Structure Control Algorithm for Robot Manipulators Using Acceleration Feedback
Autor: Machado, J. A. Tenreiro
Carvalho, J. L. Martins de
Palavras-chave: Artificial Intelligence
Electronics
Microelectronics
Instrumentation
Control
Robotics
Mechatronics
Engineering Economics
Organization
Logistics
Marketing
Data: 1990
Editora: Springer-Verlag
Relatório da Série N.º: Highly Redundant Sensing in Robotic Systems;
Resumo: A new variable structure control algorithm for robot manipulators is announced. Second order linear system sliding curves and a new control law, eliminate the reaching phase problems as well as the chattering usually present in the sliding mode. This controller architecture may also be interpreted as the result of the acceleration data integration on the VSS algorithm. Consequently, there is a shift from the computational burden, often present in sophisticated control schemes, towards a simpler but highly sensor based structure. The results show a remarkable improvement over conventional VSS controllers, maintaining, however, a low computational complexity which make it well suited for microcomputer implementation.
Peer review: yes
URI: http://hdl.handle.net/10400.22/8802
DOI: 10.1007/978-3-642-84051-7_16
ISBN: 978-3-642-84053-1
978-3-642-84051-7
Versão do Editor: http://link.springer.com/chapter/10.1007/978-3-642-84051-7_16
Aparece nas colecções:ISEP – DEE – Livro, parte de livro, ou capítulo de livro

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