Publication
Variable Structure Control of Manipulators with Joints having Flexibility and Backlash
| dc.contributor.author | Tenreiro Machado, J. A. | |
| dc.date.accessioned | 2019-04-09T11:35:46Z | |
| dc.date.available | 2019-04-09T11:35:46Z | |
| dc.date.issued | 1995-09-20 | |
| dc.description.abstract | This article studies the variable strucutre control of robot manipulators with joints having flexibility and backlash. A second order reference model and a smooth control law eliminate the reaching phase problems and the chattering usually present in the sliding mode. The results show a remarkable improvement of the stability over conventional variable structure controllers, while the algorithm maintains a low computational load that makes it suited for microcomputer implementation. | pt_PT |
| dc.description.version | N/A | pt_PT |
| dc.identifier.uri | http://hdl.handle.net/10400.22/13492 | |
| dc.language.iso | eng | pt_PT |
| dc.title | Variable Structure Control of Manipulators with Joints having Flexibility and Backlash | pt_PT |
| dc.type | conference object | |
| dspace.entity.type | Publication | |
| oaire.citation.conferencePlace | Catalonia, Spain | pt_PT |
| oaire.citation.endPage | 9 | pt_PT |
| oaire.citation.startPage | 1 | pt_PT |
| oaire.citation.title | Seventh International Conference on Advanced Robotics | pt_PT |
| person.familyName | Tenreiro Machado | |
| person.givenName | J. A. | |
| person.identifier.ciencia-id | 7A18-4935-5B29 | |
| person.identifier.orcid | 0000-0003-4274-4879 | |
| person.identifier.rid | M-2173-2013 | |
| person.identifier.scopus-author-id | 55989030100 | |
| rcaap.rights | openAccess | pt_PT |
| rcaap.type | conferenceObject | pt_PT |
| relation.isAuthorOfPublication | 82cd5c17-07b6-492b-b3e3-ecebdad1254f | |
| relation.isAuthorOfPublication.latestForDiscovery | 82cd5c17-07b6-492b-b3e3-ecebdad1254f |